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Randomized kinodynamic planning for cable-suspended parallel robots

Author
Bordalba, R.; Porta, J.; Ros, L.
Type of activity
Presentation of work at congresses
Name of edition
3rd International Conference on Cable-Driven Parallel Robots
Date of publication
2018
Presentation's date
2017
Book of congress proceedings
Vol 53 of Mechanisms and Machine Science
First page
195
Last page
206
Publisher
Springer
DOI
/10.1007/978-3-319-61431-1_17
Project funding
RobCab: Control strategies for cable-driven robot for low-gravity simulation
Repository
http://hdl.handle.net/2117/116759 Open in new window
URL
https://link.springer.com/chapter/10.1007%2F978-3-319-61431-1_17 Open in new window
Abstract
The final publication is available at link.springer.com 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 ba...
Citation
Bordalba, R., Porta, J., Ros, L. Randomized kinodynamic planning for cable-suspended parallel robots. A: International Conference on Cable-Driven Parallel Robots. "Vol 53 of Mechanisms and Machine Science". Berlín: Springer, 2017, p. 195-206.
Keywords
automation, cable-driven parallel robots, constrained systems, holonomic constraints, kinodynamic planning
Group of research
KRD - Kinematics and Robot Design

Participants