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dc.contributor.authorBordalba Llaberia, Ricard
dc.contributor.authorPorta Pleite, Josep Maria
dc.contributor.authorRos Giralt, Lluís
dc.contributor.otherInstitut de Robòtica i Informàtica Industrial
dc.date.accessioned2018-04-27T08:24:42Z
dc.date.available2018-04-27T08:24:42Z
dc.date.issued2017
dc.identifier.citationBordalba, R., Porta, J., Ros, L. Randomized kinodynamic planning for cable-suspended parallel robots. A: International Conference on Cable-Driven Parallel Robots. "Vol 53 of Mechanisms and Machine Science". Berlín: Springer, 2017, p. 195-206.
dc.identifier.urihttp://hdl.handle.net/2117/116759
dc.descriptionThe final publication is available at link.springer.com
dc.description.abstractThis paper proposes the use of a randomized kinodynamic planning technique to synthesize dynamic motions for cable-suspended parallel robots. Given two mechanical states of the robot, both with a prescribed position and velocity, the method attempts to connect them by a collision-free trajectory that respects the joint and force limits of the actuators, keeps the cables in tension, and takes the robot dynamics into account. The method is based on the construction of a bidirectionalrapidly-exploring random tree over the state space. Remarkably, the technique can be used to cross forward singularities of the robot in a predictable manner, which extends the motion capabilities beyond those demonstrated in previous work. The paper describes experiments that show the performance of the method in point-to-point operations with specific cable-driven robots, but the overall strategy remains applicable to other mechanism designs.
dc.format.extent12 p.
dc.language.isoeng
dc.publisherSpringer
dc.subjectÀrees temàtiques de la UPC::Informàtica::Automàtica i control
dc.subject.otherautomation
dc.subject.otherkinodynamic planning
dc.subject.otherconstrained systems
dc.subject.otherholonomic constraints
dc.subject.othercable-driven parallel robots
dc.titleRandomized kinodynamic planning for cable-suspended parallel robots
dc.typeConference report
dc.contributor.groupUniversitat Politècnica de Catalunya. KRD - Cinemàtica i Disseny de Robots
dc.identifier.doi10.1007/978-3-319-61431-1_17
dc.description.peerreviewedPeer Reviewed
dc.subject.inspecClassificació INSPEC::Automation
dc.relation.publisherversionhttps://link.springer.com/chapter/10.1007%2F978-3-319-61431-1_17
dc.rights.accessOpen Access
local.identifier.drac21870775
dc.description.versionPostprint (author's final draft)
dc.relation.projectidinfo:eu-repo/grantAgreement/MINECO//DPI2014-57220-C2-2-P/ES/ESTRATEGIAS DE CONTROL PARA UN ROBOT ACTUADO POR CABLES PARA SIMULACION DE BAJA GRAVEDAD/
local.citation.authorBordalba, R.; Porta, J.; Ros, L.
local.citation.contributorInternational Conference on Cable-Driven Parallel Robots
local.citation.pubplaceBerlín
local.citation.publicationNameVol 53 of Mechanisms and Machine Science
local.citation.startingPage195
local.citation.endingPage206


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