Kinematic Stability based AFG-RRT* Path Planning for Cable-Driven Parallel Robots - Archive ouverte HAL Access content directly
Conference Papers Year : 2021

Kinematic Stability based AFG-RRT* Path Planning for Cable-Driven Parallel Robots

Abstract

Motion planning for Cable-Driven Parallel Robots (CDPRs) is a challenging task due to various restrictions on cable tensions, collisions and obstacle avoidance. The presented work aims at proposing an optimal path planning strategy in order to both maximize the wrench capability and the dexterity of the robot in a cluttered environment. First, an asymptotically-optimal path finding method based on a variant of rapidly exploring random trees (RRT) is implemented along with the Gilbert Johnson Keerthi (GJK) algorithm to account for the collision detections. Then, a goal biased Artificial Field Guide (AFG) is employed to reduce convergence time and ensure directional exploration. Finally, a post-processing algorithm is added to get a short and smooth resultant path by fitting appropriate splines. The proposed path planning strategy is analyzed and demonstrated on a simulated and experimental setup of a six-DOF spatial CDPR.
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Dates and versions

hal-03182298 , version 1 (29-03-2021)

Identifiers

  • HAL Id : hal-03182298 , version 1

Cite

Utkarsh A. Mishra, Marceau Métillon, Stéphane Caro. Kinematic Stability based AFG-RRT* Path Planning for Cable-Driven Parallel Robots. The 2021 IEEE International Conference on Robotics and Automation (ICRA 2021), May 2021, Xi'an, China. ⟨hal-03182298⟩
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