Trajectory planning for variable geometry truss manipulator via LMI optimization

In this paper, an optimal trajectory of the variable geometry truss (VGT) manipulator in point-to-point motion is proposed. To achieve this goal, the kinematic model of a VGT module is introduced and a trajectory optimization model considering the physical limits of the VGT manipulator is accomplished. By employing LMI (Linear Matrix Inequalities) optimization, the problem gets solved under some restraint condition on the structural of VGT. The numerical simulation substantiates the effectiveness of the introduced approach.