Randomized Kinodynamic Planning for Cable-Suspended Parallel Robots

Bordalba, Ricard; Porta, Josep M.; Ros, Lluís

doi:10.1007/978-3-319-61431-1_17

Cited by 9 publications

(5 citation statements)

References 21 publications

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“…Zhang et al [38] proposed an improved RRT algorithm with a cost function in order to guarantee the obstacle avoidance and finding the optimal path. Bordalba et al [39] proposed a method in order to find a collision-free path between two points while keeping the cables in tension and simultaneously adhering to the actuators and joints force capabilities. They validated their presented method by experimental data on a specific CDPM.…”

Section: Related Work 21 Non-reconfigurable Cdpmmentioning

confidence: 99%

Reconfigurable fully constrained cable-driven parallel mechanism for avoiding collision between cables with human

et al. 2022

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Productivity can be increased by manipulators tracking the desired trajectory with some constraints. Humans as moving obstacles in a shared workspace are one of the most challenging problems for cable-driven parallel mechanisms (CDPMs) that are considered in this research. One of the essential primary issues in CDPM is collision avoidance among cables and humans in the shared workspace. This paper presents a model and simulation of a reconfigurable, fully constrained CDPM enabling detection and avoidance of cable–human collision. In this method, unlike conventional CDPMs where the attachment points are fixed, the attachment points on the rails can be moved (up and down on their rails), and then the geometric configuration is adapted. Karush–Kuhn–Tucker method is proposed, which focuses on estimating the shortest distance among moving obstacles (human limbs) and all cables. When cable and limbs are close to colliding, the new idea of reconfiguration is presented by moving the cable’s attachment point on the rail to increase the distance between the cables and human limbs while they are both moving. Also, the trajectory of the end effector remains unchanged. Some simulation results of reconfiguration theory as a new approach are shown for the eight-cable-driven parallel manipulator, including the workspace boundary variation. The proposed method could find a collision-free predefined path, according to the simulation results.

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Section: Related Work 21 Non-reconfigurable Cdpmmentioning

confidence: 99%

Reconfigurable fully constrained cable-driven parallel mechanism for avoiding collision between cables with human

et al. 2022

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“…A collision may occur between cables, between cables and the environment, between the platform and the environment as well as between cables and the platform, as mentioned by Nguyen [23]. Bordalba et al [24] proposes the use of a randomized kinodynamic planning technique to synthesize dynamic motions for cable-suspended parallel robots. The authors presented a method to find a collision-free trajectory [25,26] between two points with known positions and velocities while maintaining the cables in tension continually and at the same time adhering to the actuators and joints force capabilities.…”

Section: Related Workmentioning

confidence: 99%

Reconfigurable fully constrained cable driven parallel mechanism for avoiding interference between cables

Youssef

Otis

2020

Mechanism and Machine Theory

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“…AtlasRRT* (105) extends AtlasRRT to be asymptotically optimal, in the vein of RRT* (106), providing the same theoretical guarantees of asymptotic optimality while also respecting the geometric constraints imposed on the system. There has also been an extension to kinodynamic planning, or planning with nonholonomic constraints, utilizing the basic framework of AtlasRRT (107). Additionally, the methodology behind building an atlas incrementally has been extended to general sampling-based motion planning (108), which enables any sampling-based planner to build an atlas approximation while planning with constraints.…”

Section: Atlasmentioning

confidence: 99%

Sampling-Based Methods for Motion Planning with Constraints

Kingston

Moll

Kavraki

2018

Annu. Rev. Control Robot. Auton. Syst.

153

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Robots with many degrees of freedom (e.g., humanoid robots and mobile manipulators) have increasingly been employed to accomplish realistic tasks in domains such as disaster relief, spacecraft logistics, and home caretaking. Finding feasible motions for these robots autonomously is essential for their operation. Sampling-based motion planning algorithms are effective for these high-dimensional systems; however, incorporating task constraints (e.g., keeping a cup level or writing on a board) into the planning process introduces significant challenges. This survey describes the families of methods for sampling-based planning with constraints and places them on a spectrum delineated by their complexity. Constrained sampling-based methods are based on two core primitive operations: (a) sampling constraintsatisfying configurations and (b) generating constraint-satisfying continuous motion. Although this article presents the basics of sampling-based planning for contextual background, it focuses on the representation of constraints and sampling-based planners that incorporate constraints. 3.1

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Randomized Kinodynamic Planning for Cable-Suspended Parallel Robots

Cited by 9 publications

References 21 publications

Reconfigurable fully constrained cable-driven parallel mechanism for avoiding collision between cables with human

Reconfigurable fully constrained cable-driven parallel mechanism for avoiding collision between cables with human

Reconfigurable fully constrained cable driven parallel mechanism for avoiding interference between cables

Sampling-Based Methods for Motion Planning with Constraints

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