Periodic Trajectory Planning Beyond the Static Workspace for 6-DOF Cable-Suspended Parallel Robots

Jiang, Xiaoling; Barnett, Eric; Gosselin, Clément

doi:10.1109/tro.2018.2819668

Cited by 31 publications

(15 citation statements)

References 21 publications

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“…Then, the trajectory is separately planned by three algebraic methods, which include fifth degree polynomial, cycloid trajectory, and double-S velocity curve. The (20)…”

Section: Point-to-point Trajectory Planningmentioning

confidence: 99%

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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.

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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.

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“…Then, the trajectory is separately planned by three algebraic methods, which include fifth degree polynomial, cycloid trajectory, and double-S velocity curve. The (20)…”

Section: Point-to-point Trajectory Planningmentioning

confidence: 99%

“…The trajectory planning of CSPRs has been investigated by some researchers. Jiang et al [20] presented a technology of dynamic trajectory planning for CSPRs with six degrees of freedom (DOFs). A passive mechanical system equivalent to the CSPRs was presented.…”

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.

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“…In this paper, we will consider trajectories below the singularity lines. Dynamic trajectories outside the static workspace is an active field of research: the tension of the cable are kept under tension with the use of the inertial force generated by the mass of the endeffector, but the gen eration of such dynamic trajectories is challenging [18], [19]. Equation 4corresponds to the forward dynamics of the twoDOFs CSPR and can be written in a discrete way as:…”

Section: Dynamics Of the Csprmentioning

confidence: 99%

Trajectory Planning of a CableBased Parallel Robot using Reinforcement Learning and Soft Actor-Critic

Al-smadi

2020

Wseas Transactions on Applied and Theoretical Mechanics

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Industry 4.0 introduces the use of modular stations and better communication between agents to improve manufacturing efficiency and to lower the downtime between the customer and its final product. Among novel mechanisms that have a high potential in this new industrial paradigm are cablesuspended parallel robot (CSPR): their payloadtomass ratio is high compared to their serial robot counterpart and their setup is quick compared to other types of parallel robots such as Gantry system, popular in the automotive industry but difficult to set up and to adapt while the production line changes. A CSPR can cover the workspace of a manufacturing hall and providing assistance to operators before they arrive at their workstation. One challenge is to generate the desired trajectories, so that the CSPR could move to the desired area. Reinforcement Learning (RL) is a branch of Artificial Intelligence where the agent interacts with an environment to maximize a reward function. This paper proposes the use of a RL algorithm called Soft ActorCritic (SAC) to train a two degreesoffreedom (DOFs) CSPR to perform pickandplace trajectory. Even though the pickandplace trajectory based on artificial intelligence has been an active research with serial robots, this technique has yet to be applied to parallel robots.

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“…Most of the techniques developed for increasing static-wrench workspace feasibility have been applied for cable-driven parallel robots (CDPRs), in which the cables have been used as passive elements to find dynamic trajectories that seek to match the free response of the system with the desired payload motions [4][5] [6] [7]. The main idea is to replace the CDPR motor-cable arrangements with linear springs, from which an undamped mass-spring system is approximated.…”

Section: Introductionmentioning

confidence: 99%

Exploiting Natural Dynamics in order to Increase the Feasible Static-Wrench Workspace of Robots

Hill

Briot

Chriette

et al. 2019

Advances in Mechanism and Machine Science

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The reachable workspace of a robot carrying a payload is usually limited by the maximal value of the torque that each actuator can deliver. This results in limiting the zones for the robot to operate with the payload due to a possible division of its static-wrench workspace into several disconnected aspects. In order to increase the reachable workspace areas, this paper proposes to exploit the natural oscillations in dynamics, so that the robot can carry a payload which is out of its feasible static-wrench workspace, i.e. to perform motions between two disconnected aspects, while constraining the torques of the actuators. This is done thanks to the solution of a boundary value problem, which seeks to smartly exchange the gravity potential energy and the kinetic energy in order to connect two desired payload positions, which are placed in two disconnected aspects. Simulations of the suggested approach on a 2-degree-of-freedom robot are performed and show the efficiency of the proposed approach.

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Periodic Trajectory Planning Beyond the Static Workspace for 6-DOF Cable-Suspended Parallel Robots

Cited by 31 publications

References 21 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

Trajectory Planning of a CableBased Parallel Robot using Reinforcement Learning and Soft Actor-Critic

Exploiting Natural Dynamics in order to Increase the Feasible Static-Wrench Workspace of Robots

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