Dynamic Point-to-Point Trajectory Planning Beyond the Static Workspace for Six-DOF Cable-Suspended Parallel Robots

Jiang, Xiaoling; Barnett, Eric; Gosselin, Clément

doi:10.1109/tro.2018.2794549

Cited by 31 publications

(16 citation statements)

References 23 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…Thus, impacts and vibrations of the robot caused by sudden changes in velocity during motion are effectively avoided. In segment P0 → P1 , the maximum velocity is v max = 18.75 mm/ s when the time t = 5 s , and the (26) In the Y direction, the planned position curve is completely consistent with the unplanned position curve in segments P0 → P1 → P2 and P4 → P5 → P0 . The planned position curve lags behind the unplanned position curve in segment P2 → P3 , while the planned position curve is ahead of the unplanned curve in segment P3 → P4 .…”

Section: Fifth Degree Polynomial Methodsmentioning

confidence: 66%

“…They could both maintain the stiffness stability during motion control and optimize the travel time of quintic polynomial while maintaining stability. Jiang et al [26] proposed a point-to-point dynamic trajectory planning technology for a CSPR with six DOFs to achieve a series of poses. Each segment of the trajectory was devised to possess zero rotational and translational velocities at its endpoints, and transitions between segments had the continuity of rotational and translational accelerations.…”

Section: Introductionmentioning

confidence: 99%

See 1 more Smart Citation

Algebraic Method-Based Point-to-Point Trajectory Planning of an Under-Constrained Cable-Suspended Parallel Robot with Variable Angle and Height Cable Mast

Zhao

Qian

et al. 2020

Chin. J. Mech. Eng.

View full text Add to dashboard Cite

To avoid impacts and vibrations during the processes of acceleration and deceleration while possessing flexible working ways for cable-suspended parallel robots (CSPRs), point-to-point trajectory planning demands an under-constrained cable-suspended parallel robot (UCPR) with variable angle and height cable mast as described in this paper. The end-effector of the UCPR with three cables can achieve three translational degrees of freedom (DOFs). The inverse kinematic and dynamic modeling of the UCPR considering the angle and height of cable mast are completed. The motion trajectory of the end-effector comprising six segments is given. The connection points of the trajectory segments (except for point P3 in the X direction) are devised to have zero instantaneous velocities, which ensure that the acceleration has continuity and the planned acceleration curve achieves smooth transition. The trajectory is respectively planned using three algebraic methods, including fifth degree polynomial, cycloid trajectory, and doubleS velocity curve. The results indicate that the trajectory planned by fifth degree polynomial method is much closer to the given trajectory of the end-effector. Numerical simulation and experiments are accomplished for the given trajectory based on fifth degree polynomial planning. At the points where the velocity suddenly changes, the length and tension variation curves of the planned and unplanned three cables are compared and analyzed. The OptiTrack motion capture system is adopted to track the end-effector of the UCPR during the experiment. The effectiveness and feasibility of fifth degree polynomial planning are validated.

show abstract

Section: Fifth Degree Polynomial Methodsmentioning

confidence: 66%

Section: Introductionmentioning

confidence: 99%

Algebraic Method-Based Point-to-Point Trajectory Planning of an Under-Constrained Cable-Suspended Parallel Robot with Variable Angle and Height Cable Mast

Zhao

Qian

et al. 2020

Chin. J. Mech. Eng.

View full text Add to dashboard Cite

show abstract

“…[14][15][16][17] Recently, several studies developed an accurate dynamic model of the CSR for controller design. [18][19][20] The nonlinear dynamic model of CDPRs using a Rayleigh-Rite formulation is indicated in the study by Godbole et al 18 A dynamic trajectory planning technique for six-degree-of-freedom (6-DOF) cablesuspended parallel robots is proposed by Jiang et al 19,20 Similarly, the study presents decoupled modeling and model predictive control (MPC) of a hybrid cable-driven robot. 21 However, all the above articles lack the position and orientation measurement issues to deal with positioning control.…”

Section: Introductionmentioning

confidence: 99%

Motion control of a cable-suspended robot using image recognition with coordinate transformation

Lin

Chiang

2020

Proceedings of the Institution of Mechanical Engineers, Part I:

View full text Add to dashboard Cite

This study will concern the implementation of a vision-based controller for cable-suspended robots, and especially for the pick-and-place function. This work will develop a novel algorithm that combines cable-suspended robot coordinate transformation with image recognition to manipulate the suspended gripper to the desired position for material-handling tasks. Two webcams sense the position of the end-effector; one will be used to calculate the horizontal planar coordinate of the target, and the other will be used to determine the vertical height of the target. Accordingly, the two-dimensional spatial image can be converted into three-dimensional image coordinates. Based on the sensed information, the robot can convert the position of the target to required cable lengths and then drive the servomotor to retract (or release) the cables to move the suspended gripper to the desired position. Various experiments will be conducted to verify the proposed methodology. The framework that is developed herein is easily implemented for real-time control and is suitable for inclusion in mechatronic kits in a university control course. The large variety of ideas that are addressed in this work apply to cranes, aerostats, and other large-scale manufacturing equipment that requires cable-driven robots.

show abstract

“…A reasonable trajectory planning of a robot can help it not only to perform the desired tasks with satisfactory performance [8], but it is also conducive to improving efficiency [9], reducing energy consumption, and extending the operating life [10,11]. At present, there are many studies on robot trajectory planning, such as in [12] (point-to-point dynamic trajectory planning was carried out for six degree-of-freedom (six-DOF) parallel robots, attaining good effects), [13] (point-to-point dynamic trajectory planning was carried out for three degree-of-freedom (three-DOF) parallel robots, also attaining good effects), and [14] (a new s − .. s plane path method was adopted to design a dynamic feasible point-to-point path and periodic trajectories, based on the forces of geometric constraints).…”

Section: Introductionmentioning

confidence: 99%

Trajectory Planning and Optimization for a Par4 Parallel Robot Based on Energy Consumption

Zhang

Ming

2019

Applied Sciences

View full text Add to dashboard Cite

A study on trajectory planning and optimization for a Par4 parallel robot was carried out, based on energy consumption in high-speed picking and placing. In the end-effector operating space of the Par4 parallel robot, the rectangular transition of the pick-and-place trajectory was rounded by a Lamé curve. A piecewise design method was adopted to accomplish trajectory shape planning for displacement, velocity and acceleration. To make the Par4 robot’s end run more smoothly and to reduce residual vibration, asymmetric fifth-order and sixth-order polynomial motion laws were employed. With the aim of reaching the minimum mechanical energy consumption for the Par4 parallel robot, the recently proposed Grey Wolf Optimizer (GWO) algorithm was adopted to optimize the planning trajectory. The validity of the design method was verified by experiments, and it was found that the minimum mechanical energy consumption of the optimal trajectory planned under the law of fifth-order polynomial motion is lower than that of sixth-order polynomial motion. In addition, the experiments also revealed the optimal values of Parameters e and f, which were the parameters of the Lamé curve function. Parameter e can be calculated as half the pick-up span for the minimum mechanical energy consumption, unlike parameter f, whose optimal value depends on specific circumstances such as the pick-and-place coordinates and the pick-up height.

show abstract

Dynamic Point-to-Point Trajectory Planning Beyond the Static Workspace for Six-DOF Cable-Suspended Parallel Robots

Cited by 31 publications

References 23 publications

Algebraic Method-Based Point-to-Point Trajectory Planning of an Under-Constrained Cable-Suspended Parallel Robot with Variable Angle and Height Cable Mast

Algebraic Method-Based Point-to-Point Trajectory Planning of an Under-Constrained Cable-Suspended Parallel Robot with Variable Angle and Height Cable Mast

Motion control of a cable-suspended robot using image recognition with coordinate transformation

Trajectory Planning and Optimization for a Par4 Parallel Robot Based on Energy Consumption

Contact Info

Product

Resources

About