Robust Trajectory Planning of Under-Actuated Cable-Driven Parallel Robot with 3 Cables - Archive ouverte HAL Access content directly
Conference Papers Year : 2020

Robust Trajectory Planning of Under-Actuated Cable-Driven Parallel Robot with 3 Cables

Abstract

Cable-driven parallel robots (CDPRs) are under-actuated if they use a number of cables smaller than the degrees of freedom (DoF) of the end-effector (EE). For these robots, the constraint deficiency on the EE may lead to undesirable EE oscillations along the path that it is supposed to track. This paper proposes a trajectory-planning method for underactuated CDPRs which is robust against dynamic-model uncertainties or parameter variation, aiming at minimizing EE oscillations along a prescribed path. Oscillation reduction and robust-ness are achieved by means of Zero-Vibration Multi-Mode Input Shaping and Dynamic Scaling of a reference trajectory. Simulation results show the effectiveness of the method on a 3-cable 6-DoF robot.
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Dates and versions

hal-02539452 , version 1 (22-06-2020)

Identifiers

  • HAL Id : hal-02539452 , version 1

Cite

Edoardo Idá, Sébastien Briot, Marco Carricato. Robust Trajectory Planning of Under-Actuated Cable-Driven Parallel Robot with 3 Cables. Advances in Robot Kinematics (ARK 2020), Jun 2020, Ljubljana, Slovenia. ⟨hal-02539452⟩
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