TY - GEN
T1 - Optimization based Trajectory Planning of Mobile Cable-Driven Parallel Robots
AU - Rasheed, Tahir
AU - Long, Philip
AU - Roos, Adolfo Suarez
AU - Caro, Stephane
N1 - Publisher Copyright:
© 2019 IEEE.
PY - 2019/11
Y1 - 2019/11
N2 - 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.
AB - 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.
UR - http://www.scopus.com/inward/record.url?scp=85078547172&partnerID=8YFLogxK
U2 - 10.1109/IROS40897.2019.8968133
DO - 10.1109/IROS40897.2019.8968133
M3 - Conference contribution
AN - SCOPUS:85078547172
T3 - IEEE International Conference on Intelligent Robots and Systems
SP - 6788
EP - 6793
BT - 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2019
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2019
Y2 - 3 November 2019 through 8 November 2019
ER -