Optimal Kinematic Redundancy Planning for Planar Mobile Cable-Driven Parallel Robots

Rasheed, Tahir; Long, Philip; Marquez-Gamez, David; Caro, Stéphane

doi:10.1115/detc2018-86182

Cited by 5 publications

(12 citation statements)

References 16 publications

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“…During this mode, the passive mobile base is static while the motion of the cables and the active mobile base is used to deploy the complete system. It should be noted that during the task mode, FASTKIT is kinematically redundant due to the additional mobility of the active mobile base as explained in [12].…”

Section: Discussionmentioning

confidence: 99%

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FASTKIT: A Mobile Cable-Driven Parallel Robot for Logistics

Pedemonte

Rasheed

Marquez-Gamez

et al. 2019

Springer Tracts in Advanced Robotics

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The subject of this paper is about the design, modeling, control and performance evaluation of a low cost and versatile robotic solution for logistics. The robot under study, named FASTKIT, is obtained from a combination of mobile robots and a Cable-Driven Parallel Robot (CDPR). FASTKIT addresses an industrial need for fast picking and kitting operations in existing storage facilities while being easy to install, keeping existing infrastructures and covering large areas. The FASTKIT prototype consists of two mobile bases that carry the exit points of the CDPR. The system can navigate autonomously to the area of interest. Once the desired position is attained, the system deploys the CDPR in such a way that its workspace corresponds to the current task specification. The system calculates the required mobile base position from the desired workspace and ensures the controllability of the platform during the deployment. Once the system is successfully deployed, the set of stabilizers are used to ensure the prototype structural stability. Then the prototype gripper is moved accurately by the CDPR at high velocity over a large area by controlling the cable tension.

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Section: Discussionmentioning

confidence: 99%

“…3(b) and 3(c)) 1 . It should be noted that during the task mode, FASTKIT is kinematically redundant due to the additional mobility of the active mobile base as explained in [12].…”

Section: Fig 1 Fastkit Concept: a Cable-driven Parallel Robot Mountementioning

confidence: 99%

FASTKIT: A Mobile Cable-Driven Parallel Robot for Logistics

Pedemonte

Rasheed

Marquez-Gamez

et al. 2019

Springer Tracts in Advanced Robotics

Self Cite

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show abstract

“…The facets of the polytope depend on the MCDPR configuration, the constraints associated with the cable tension limits and the SE conditions of the mobile bases. Recent work on MCDPRs [6,7] discusses different strategies to determine the AWS for MCDPRs. The latter proposes mapping the SE equations defined by Eqs.…”

Section: Available Wrench Setmentioning

confidence: 99%

“…Generally MCDPRs are kinematically redundant due to the additional mobility of the mobile bases [7,8]. As a consequence, there exist multiple paths for the MCDPR mobile bases to displace the moving-platform from one pose to another and to perform a desired task.…”

Section: Introductionmentioning

confidence: 99%

“…As a consequence, there exist multiple paths for the MCDPR mobile bases to displace the moving-platform from one pose to another and to perform a desired task. [7] addresses the problem of determining an optimal path also referred to as a redundancy planning of FASTKIT with one degree of kinematic redundancy. On the contrary, MoPICK has eight degrees of kinematic redundancy.…”

Section: Introductionmentioning

confidence: 99%

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Path Planning of a Mobile Cable-Driven Parallel Robot in a Constrained Environment

Rasheed

Long

Marquez-Gamez

et al. 2019

Mechanisms and Machine Science

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A Mobile Cable-Driven Parallel Robot (MCDPR) is a special type of Reconfigurable Cable-Driven Parallel Robot (RCDPR) composed of a classical Cable-Driven Parallel Robot (CDPR) mounted on multiple mobile bases. The additional mobility of the mobile bases allows such systems to autonomously modify their geometric architecture, and thus make them suitable for multiple manipulative tasks in constrained environments. Moreover, these additional mobilities make MCDPRs kinematically redundant. Therefore, the subject of this paper is to introduce a two stage path planning algorithm for MCDPRs. The first stage searches for a feasible and collision free path of mobile bases. The second stage deals with generating an optimal path of the moving-platform to displace it from an initial to a desired pose. The proposed algorithm is validated through simulation on a three degree-of-freedom (DoF) point mass moving-platform displaced by four cables with each cable carried by an independent mobile base.

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A collaborative path planning method for mobile cable-driven parallel robots in a constrained environment with considering kinematic stability

Kim

Park

2022

Complex Intell. Syst.

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Mobile cable-driven parallel robot (MCDPR) is a variant of cable-driven parallel robots (CDPRs) by mounting several mobile bases to replace the conventional fixed frame. The novel modification of adding mobile bases leads MCDPRs being highly flexible and have great potential for complex environments. However, the issue of coupled mobile bases introduces actuated kinematic redundancies which present challenges for path planning. In this paper, we propose a collaborative path planning method for MCDPRs, and it allows the robot to deal with complex internal and external constraints in a high-dimensional state space efficiently. The proposed method quickly generates feasible paths for coupled mobile bases using the adaptive goal-biased rapidly exploring random tree (RRT) method, in which the adaptive sampling method is developed to enhance efficiency. Based on the feasible path of the mobile base, we proposed a grid-based search method to determine the position of the end-effector with considering the stability and kinematic performances. Furthermore, the planned paths are post-processed with the cubic splines to obtain continuous profiles for the robot. Finally, the proposed method is validated through the dynamic simulation software (CoppeliaSim) and experiments based on a MCDPR prototype with an eight-cable-driven parallel robot mounted on four mobile bases.

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Optimal Kinematic Redundancy Planning for Planar Mobile Cable-Driven Parallel Robots

Cited by 5 publications

References 16 publications

FASTKIT: A Mobile Cable-Driven Parallel Robot for Logistics

FASTKIT: A Mobile Cable-Driven Parallel Robot for Logistics

Path Planning of a Mobile Cable-Driven Parallel Robot in a Constrained Environment

A collaborative path planning method for mobile cable-driven parallel robots in a constrained environment with considering kinematic stability

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