Dynamic Point-to-Point Trajectory Planning of a Two-DOF Cable-Suspended Parallel Robot

Gosselin, Clément; Foucault, Simon

doi:10.1109/tro.2013.2292451

Cited by 71 publications

(39 citation statements)

References 14 publications

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“…Consequently, it is preferable to employ the alternative architecture to accomplish a trajectory with a high frequency and a large amplitude. In view of practical applications such as material manipulation in [23], compared to larger amplitudes of the periodic tracks, it is more significant to move rapidly in order to improve the efficiency since in most situations the distance between locations are defined beforehand. Therefore, the two asymptotes of feasible frequencies with various x 0 (a = 0.25 m) are calculated and drawn in Fig.…”

Section: Horizontal Straight Line Trajectory In Areas V Vi and Viimentioning

confidence: 99%

Dynamic trajectory planning study of planar two-dof redundantly actuated cable-suspended parallel robots

Tang

Jiang

et al. 2015

Mechatronics

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Section: Horizontal Straight Line Trajectory In Areas V Vi and Viimentioning

confidence: 99%

Dynamic trajectory planning study of planar two-dof redundantly actuated cable-suspended parallel robots

Tang

Jiang

et al. 2015

Mechatronics

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“…More recently, inertia has also been proposed as another source of tension [11], extending the movement capacity to the dynamic workspace, i.e., the region that can be attained when load accelerations are allowed [3]. Using pendulum-like motions, for example, pick-and-place tasks between points well beyond the robot footprint can be planned [10,14].…”

Section: Introductionmentioning

confidence: 99%

“…Because of their underactuation, however, these robots cannot control their pose exactly along the motion, which motivated the development of newer methods for fully-actuated designs. For instance, in [11] cyclic trajectories leaving the static workspace were given, and the approach was later extended to synthesize point-to-point trajectories for pick-and-place tasks [10,14]. Optimal control methods for Robocrane-type platforms were also provided in [2].…”

Section: Introductionmentioning

confidence: 99%

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Randomized Kinodynamic Planning for Cable-Suspended Parallel Robots

Bordalba

Porta

Ros

2017

Mechanisms and Machine Science

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This paper proposes the use of a randomized kinodynamic planning technique to synthesize dynamic motions for cable-suspended parallel robots. Given two mechanical states of the robot, both with a prescribed position and velocity, the method attempts to connect them by a collision-free trajectory that respects the joint and force limits of the actuators, keeps the cables in tension, and takes the robot dynamics into account. The method is based on the construction of a bidirectional rapidly-exploring random tree over the state space. Remarkably, the technique can be used to cross forward singularities of the robot in a predictable manner, which extends the motion capabilities beyond those demonstrated in previous work. The paper describes experiments that show the performance of the method in point-topoint operations with specific cable-driven robots, but the overall strategy remains applicable to other mechanism designs.

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“…On the other hand, dynamic workspace has a unique feature that the end-effector can controllably move beyond the static workspace. 13,14 As for workspace determination as one of the fundamental issues of robotic analysis, a lot of researchers had proposed several methods to solve it in literature. An analytical approach was employed for WFW, where a designated set of wrenches can be balanced by cable tensions.…”

Section: Introductionmentioning

confidence: 99%

Algebraic expression and characteristics of static wrench-closure workspace boundary for planar cable-driven parallel robots

Tang

2016

Advances in Mechanical Engineering

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This article proposes a deduction method of algebraic expression of static wrench-closure workspace boundary for planar 3-degree-of-freedom cable-driven parallel robots based on the antipodal theorem. Different from interval method and discretization approach, a more precise algebraic expression of workspace boundary can be obtained without undetermined region or costly computation burden to make the design process and optimization easy and feasible. In order to illustrate and study the conic characteristics of workspace boundary, a case study is conducted on a four-cable-driven 3-degree-of-freedom parallel robot. Simulation results show that the type of conic of boundary depends on the determinant of the specific deduced matrix and corresponds to which cable is collinear with the intersection line. In addition, the results also demonstrate that the boundary of workspace consists of the same type of two conics (i.e. ellipse, parabola, and hyperbola), and the region surrounded by these two quadratic curves is the smallest when the type of the border equation is parabola.

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Dynamic Point-to-Point Trajectory Planning of a Two-DOF Cable-Suspended Parallel Robot

Cited by 71 publications

References 14 publications

Dynamic trajectory planning study of planar two-dof redundantly actuated cable-suspended parallel robots

Dynamic trajectory planning study of planar two-dof redundantly actuated cable-suspended parallel robots

Randomized Kinodynamic Planning for Cable-Suspended Parallel Robots

Algebraic expression and characteristics of static wrench-closure workspace boundary for planar cable-driven parallel robots

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