Collision-free path planning of cable-driven parallel robots in cluttered environments

Bak, Jeong Hyeon; Hwang, Seok Won; Yoon, Jong‐Won; Park, Jong Hyeon; Park, Jong Oh

doi:10.1007/s11370-019-00278-7

Cited by 34 publications

(13 citation statements)

References 33 publications

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“…It calculates the distance between objects, with reference to distance from origin. To deal with the limitation of the algorithm to convex polytopes, the moving-platform, obstacles and the cables are approximated as convex objects [20]. All possible interference between the moving-platform, cables and obstacles (shown in Fig.…”

Section: B Collision Detectionmentioning

confidence: 99%

“…RRT*, a variant of general RRT, will guarantee asymptotic optimality [16] in finding path to a goal, if it exists. A modified RRT* along with a fast GJK obstacle avoidance algorithm [17] [18] [19] was proposed in [20] considering cable/cable and cable/moving-platform collisions as well as the wrench capability of the system. A faster convergence criterion based on the condition number of the kinematic Jacobian matrix with the help of an artificial potential field was introduced in [21].…”

Section: Introductionmentioning

confidence: 99%

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Kinematic Stability based AFG-RRT Path Planning for Cable-Driven Parallel Robots

Mishra

Métillon

Caro

2021

2021 IEEE International Conference on Robotics and Automation (ICRA)

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Motion planning for Cable-Driven Parallel Robots (CDPRs) is a challenging task due to various restrictions on cable tensions, collisions and obstacle avoidance. The presented work aims at proposing an optimal path planning strategy in order to both maximize the wrench capability and the dexterity of the robot in a cluttered environment. First, an asymptoticallyoptimal path finding method based on a variant of rapidly exploring random trees (RRT) is implemented along with the GilbertJohnsonKeerthi (GJK) algorithm to account for the collision detections. Then, a goal biased Artificial Field Guide (AFG) is employed to reduce convergence time and ensure directional exploration. Finally, a post-processing algorithm is added to get a short and smooth resultant path by fitting appropriate splines. The proposed path planning strategy is analyzed and demonstrated on a simulated and experimental setup of a six-DOF spatial CDPR.

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Section: B Collision Detectionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Kinematic Stability based AFG-RRT Path Planning for Cable-Driven Parallel Robots

Mishra

Métillon

Caro

2021

2021 IEEE International Conference on Robotics and Automation (ICRA)

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“…In most scenarios, autonomous navigation is necessary for intelligent mobile robots, and particularly path planning is one of the most important parts in navigation (Mac et al, 2016;Sun et al, 2012). Therefore, how to build a mobile robot with an ideal path planner in a partially known or completely unknown environment has become a research hotspot (Bak et al, 2019;Mu et al, 2018). In general, the problem of path planning can be divided into two parts: offline global planning with known information, and online local path planning with unknown information (Cui et al, 2018;Zafar and Mohanta, 2018).…”

Section: Introductionmentioning

confidence: 99%

Path planning of mobile robot with PSO-based APF and fuzzy-based DWA subject to moving obstacles

Lin

Yue

Chen

et al. 2021

Transactions of the Institute of Measurement and Control

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This paper proposes a two-layer path-planning method, where an optimized artificial potential field (APF) method and an improved dynamic window approach (DWA) are used at the global and local layer, respectively. This method enables the robot to plan a better path under a multi-obstacle environment while avoiding the moving obstacles effectively. For the part of global path planning, a new repulsive field is proposed based on the APF method. The length and smoothness of the global path are taken as fitness functions of particle swarm optimization (PSO) to obtain the obstacle influence range, the coefficients of gravitation and repulsion in APF. At the level of local path planning, on the basis of DWA, a fuzzy control scheme is adopted to evaluate the danger level of moving obstacles via collision risk index and relative distance. In brief, compared with existing methods, the robot can reasonably plan a shorter and smoother path with the aid of PSO-based APF, meanwhile quickly react to the moving obstacles and avoid them by fuzzy-based DWA. Finally, a static multi-obstacle environment and two dynamic scenarios with moving obstacles are simulated to verify the effectiveness of the proposed path-planning method.

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“…CDPRs can offer an extremely large three-degrees of freedom translational workspace, but their orientation workspace is usually limited due to cable/cable and cable/moving platform collisions [7]. Cable interferences can be divided into cable-cable and cable-environment interferences [8]. For a given pose of the moving platform, cablecable collision may occur by changing the moving platform orientation.…”

Section: Introductionmentioning

confidence: 99%

A Cable-Driven Parallel Robot With Full-Circle End-Effector Rotations

Métillon

Cardou

Subrin

et al. 2021

Journal of Mechanisms and Robotics

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Cable-Driven Parallel Robots (CDPRs) offer high payload capacities, large translational workspace and high dynamic performances. The rigid base frame of the CDPR is connected in parallel to the moving platform using cables. However, their orientation workspace is usually limited due to cable/cable and cable/moving platform collisions. This paper deals with the design, modelling and prototyping of a hybrid robot. This robot, which is composed of a CDPR mounted in series with a Parallel Spherical Wrist (PSW), has both a large translational workspace and an unlimited orientation workspace. It should be noted that the six degrees of freedom (DOF) motions of the moving platform of the CDPR, namely, the base of the PSW, and the three-DOF motion of the PSW are actuated by means of eight actuators fixed to the base. As a consequence, the overall system is underactuated and its total mass and inertia in motion is reduced.

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Collision-free path planning of cable-driven parallel robots in cluttered environments

Cited by 34 publications

References 33 publications

Kinematic Stability based AFG-RRT Path Planning for Cable-Driven Parallel Robots

Kinematic Stability based AFG-RRT Path Planning for Cable-Driven Parallel Robots

Path planning of mobile robot with PSO-based APF and fuzzy-based DWA subject to moving obstacles

A Cable-Driven Parallel Robot With Full-Circle End-Effector Rotations

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