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Computing wrench-feasible paths for cable-driven hexapods
dc.contributor.author | Bohigas, Oriol |
dc.contributor.author | Manubens Ferriol, Montserrat |
dc.contributor.author | Ros Giralt, Lluís |
dc.contributor.other | Universitat Politècnica de Catalunya. Departament d'Enginyeria de Sistemes, Automàtica i Informàtica Industrial |
dc.date.accessioned | 2015-06-05T06:44:19Z |
dc.date.available | 2015-06-05T06:44:19Z |
dc.date.created | 2015 |
dc.date.issued | 2015 |
dc.identifier.citation | Bohigas, O.; Manubens, M.; Ros, L. "Computing wrench-feasible paths for cable-driven hexapods". 2015. |
dc.identifier.uri | http://hdl.handle.net/2117/28184 |
dc.description.abstract | Motion paths of cable-driven hexapods must carefully be planned to ensure that the lengths and tensions of all cables remain within acceptable limits, for a given wrench applied to the platform. The cables cannot go slack -to keep the control of the robot- nor excessively tight -to prevent cable breakage- even in the presence of bounded perturbations of the wrench. This paper proposes a path planning method that accommodates such constraints simultaneously. Given two configurations of the robot, the method attempts to connect them through a path that, at any point, allows the cables to counteract any wrench lying in a predefined uncertainty region. The feasible C-space is placed in correspondence with a smooth manifold, which facilitates the definition of a continuation strategy to search this space systematically from one configuration, until the second configuration is found, or path non-existence is proved at the resolution of the search. The force Jacobian is full rank everywhere on the C-space, which implies that the computed paths will naturally avoid crossing the forward singularity locus of the robot. The adjustment of tension limits, moreover, allows to maintain a meaningful clearance relative to such locus. The approach is applicable to compute paths subject to geometric constraints on the platform pose, or to synthesize free-flying motions in the full six-dimensional C-space. Experiments are included that illustrate the performance of the method in a real prototype. |
dc.format.extent | 23 p. |
dc.language.iso | eng |
dc.relation.ispartofseries | IRI-TR-15-04 |
dc.rights | Attribution-NonCommercial-NoDerivs 3.0 Spain |
dc.rights.uri | http://creativecommons.org/licenses/by-nc-nd/3.0/es/ |
dc.subject | Àrees temàtiques de la UPC::Informàtica::Robòtica |
dc.subject.lcsh | Robots -- Motion |
dc.subject.other | Robot kinematics |
dc.subject.other | Cable-driven robot |
dc.subject.other | Wrench-feasible c-space |
dc.subject.other | Parallel robots |
dc.subject.other | Higher-dimensional continuation |
dc.subject.other | Singularity-free path planning |
dc.title | Computing wrench-feasible paths for cable-driven hexapods |
dc.type | External research report |
dc.subject.lemac | Robots -- Moviment |
dc.contributor.group | Universitat Politècnica de Catalunya. ROBiri - Grup de Robòtica de l'IRI |
dc.rights.access | Open Access |
local.identifier.drac | 15827682 |
dc.description.version | Postprint (published version) |
local.citation.author | Bohigas, O.; Manubens, M.; Ros, L. |
local.citation.publicationName | Computing wrench-feasible paths for cable-driven hexapods |
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