Optimization based Trajectory Planning of Mobile Cable-Driven Parallel Robots - Archive ouverte HAL Accéder directement au contenu
Communication Dans Un Congrès Année : 2019

Optimization based Trajectory Planning of Mobile Cable-Driven Parallel Robots

Résumé

A Mobile Cable-Driven Parallel Robot (MCDPR) is composed of a classical Cable-Driven Parallel Robot (CDPR) carried by multiple mobile bases. The additional mobilities due the motion of the mobile bases allow such systems to autonomously modify their geometric architecture, and thus make them suitable for multiple manipulation tasks in constrained environments. Moreover, these additional mobilities mean MCDPRs are kinematically redundant and may use this redundancy to optimize secondary task criteria. However, the high dimensional state space and closed chain constraints add complexity to the motion planning problem. To overcome this, we propose a method for trajectory planning for MCDPRs performing pick and place operations in cluttered environments by using direct transcription optimization. Two different scenarios have been considered and their results are validated using a dynamic simulation software (V-REP) and experimentally.
Fichier principal
Vignette du fichier
IROS2019_Rasheed_Long_Roos_Caro_HAL.pdf (4.13 Mo) Télécharger le fichier
Origine : Fichiers produits par l'(les) auteur(s)
Loading...

Dates et versions

hal-02404236 , version 1 (11-12-2019)

Licence

Paternité

Identifiants

Citer

Tahir Rasheed, Philip Long, Adolfo Suarez Roos, Stéphane Caro. Optimization based Trajectory Planning of Mobile Cable-Driven Parallel Robots. 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2019), Nov 2019, Macau, China. pp.6788-6793, ⟨10.1109/IROS40897.2019.8968133⟩. ⟨hal-02404236⟩
201 Consultations
270 Téléchargements

Altmetric

Partager

Gmail Facebook X LinkedIn More