Wrench-feasible workspace generation for cable-driven robots

Bosscher, Paul; Riechel, A.T.; Ebert‐Uphoff, Imme

doi:10.1109/tro.2006.878967

Cited by 230 publications

(148 citation statements)

References 21 publications

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“…• Wrench-feasibility constraints: they guarantee that the system is able to statically counteract a set of wrenches applied on the platform while ensuring that the cable tensions always lie within a pre-defined, positive acceptance range; they are derived from the static analysis of cabledriven manipulators [6,4].…”

Section: Overview Of the Contributionmentioning

confidence: 99%

“…On the one hand, the system must be able to statically counteract the forces applied on the platform with positive and acceptable cable tensions. Such condition imposes the so-called wrench-feasibility constraints on the configurations, which are acquired from cable-driven manipulators [6,4]. On the other hand, the forces applied on each flying robot cannot exceed the thrust that it is able to exert.…”

Section: B Feasibility Conditionsmentioning

confidence: 99%

“…In addition to being feasible, the generated manipulation path will be of good quality, meaning that all intermediate configurations fulfill adequate physical properties related to the forces applied to the system and to the cable tensions. This quality will be measured by a formal criterion derived from the static analysis of the system, based on a similar formulation as that used for cabledriven manipulators [6,4]. A path-planing algorithm taking this quality measure into account [9] will then be applied to compute good-quality paths.…”

Section: Introductionmentioning

confidence: 99%

See 2 more Smart Citations

Motion Planning for 6-D Manipulation with Aerial Towed-cable Systems

Manubens¹,

Devaurs²,

Ros³

et al. 2013

Robotics: Science and Systems IX

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Abstract-Performing aerial 6-dimensional manipulation using flying robots is a challenging problem, to which only little work has been devoted. This paper proposes a motion planning approach for the reliable 6-dimensional quasi-static manipulation with an aerial towed-cable system. The novelty of this approach lies in the use of a cost-based motion-planning algorithm together with some results deriving from the static analysis of cabledriven manipulators. Based on the so-called wrench-feasibility constraints applied to the cable tensions, as well as thrust constraints applied to the flying robots, we formally characterize the set of feasible configurations of the system. Besides, the expression of these constraints leads to a criterion to evaluate the quality of a configuration. This allows us to define a cost function over the configuration space, which we exploit to compute good-quality paths using the T-RRT algorithm. As part of our approach, we also propose an aerial towed-cable system that we name the FlyCrane. It consists of a platform attached to three flying robots using six fixed-length cables. We validate the proposed approach on two simulated 6-D quasi-static manipulation problems involving such a system, and show the benefit of taking the cost function into account for such motion planning tasks.

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Section: Overview Of the Contributionmentioning

confidence: 99%

Section: B Feasibility Conditionsmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

See 1 more Smart Citation

Motion Planning for 6-D Manipulation with Aerial Towed-cable Systems

Manubens¹,

Devaurs²,

Ros³

et al. 2013

Robotics: Science and Systems IX

View full text Add to dashboard Cite

show abstract

“…Another important type of the identification of the feasible workspace is the wrench feasible workspace [4,5], which represents the set of the poses where cable tensions can exert any bounded wrench of the specified set.…”

mentioning

confidence: 99%

Passive Velocity Field Control of a Redundant Cable-Driven Robot with Tension Limitations

Cao¹,

Zhang²,

Quan³

2017

JMEA

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This paper proposes a novel dynamic control approach for a cable-driven robot with high redundant actuation and cable tension limitations to perform tracking task while interacting with environment. In order for a cable-driven exoskeleton robot to execute the task smoothly and safely, it is necessary to consider the tracking motion performance as well as passivity when interacting with the environment under the conditions of the actuation cables' redundancy and the pulling limitation. With the additional consideration of the maximum limitation of the cable tension, cable-driven robot actually can only apply a certain range of feasible wrench on the external environment, which makes the task executed by robot be restricted. In order to make designed wrench be feasible and keep the desired trajectory tracking ability, we present a new control method by extending PVFC (passive velocity field control) method considering tracking stability and passivity. The approach augmented a higher dimensional virtual flywheel dynamics in a specific orthogonal complement space of the cable's actuation space. After the final adjustment of the designed wrench with respect to the cable's constraint, this method is capable of driving the cable robot to complete the trajectory tracking task and realize the passivity.

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“…The set of all poses in which a range of external wrenches can be generated using a limited range of cable tensions is called wrench feasible workspace (WFW) [6][7][8][9]. A special case of WFW happens when both cable tension and the wrench sets are unbounded which is called wrench closure workspace (WCW) [8,9].The former depends on external loading, static or dynamic equilibrium and cable properties while the latter only depends on the manipulator kinematics.…”

mentioning

confidence: 99%

Analytical Solution to Find the Interference Boundaries of Planar Cable-Driven Mechanisms

Heidari¹,

Behzadipour²

2017

Preprint

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Cable interference in cable-driven mechanisms (CDM) is a major challenge in their applications. The wrench closure workspace (WCW) in a fully constrained mechanism may not be realized unless cable interference is considered. This paper classifies all possible types of cable interferences for planar cable-driven mechanisms and presents an analytical solution to find the boundaries of the constant-orientation interference region. It is shown that interference between cables starts and ends when one end of a cable coincides with another cable which can be thought as lying a point on a line segment. This geometrical view is developed and applied to provide a framework for the analysis of cable interference. By subtracting the interference space form WCW, the interference-free workspace is obtained in which the robot is able to operate.Keywords: planar cable-driven mechanisms; interference; wrench closure workspace

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Wrench-feasible workspace generation for cable-driven robots

Cited by 230 publications

References 21 publications

Motion Planning for 6-D Manipulation with Aerial Towed-cable Systems

Motion Planning for 6-D Manipulation with Aerial Towed-cable Systems

Passive Velocity Field Control of a Redundant Cable-Driven Robot with Tension Limitations

Analytical Solution to Find the Interference Boundaries of Planar Cable-Driven Mechanisms

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