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dc.contributor.authorBohigas, Oriol
dc.contributor.authorManubens Ferriol, Montserrat
dc.contributor.authorRos Giralt, Lluís
dc.contributor.otherUniversitat Politècnica de Catalunya. Departament d'Enginyeria de Sistemes, Automàtica i Informàtica Industrial
dc.identifier.citationBohigas, O.; Manubens, M.; Ros, L. "Computing wrench-feasible paths for cable-driven hexapods". 2015.
dc.description.abstractMotion 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.extent23 p.
dc.rightsAttribution-NonCommercial-NoDerivs 3.0 Spain
dc.subjectÀrees temàtiques de la UPC::Informàtica::Robòtica
dc.subject.lcshRobots -- Motion
dc.subject.otherRobot kinematics
dc.subject.otherCable-driven robot
dc.subject.otherWrench-feasible c-space
dc.subject.otherParallel robots
dc.subject.otherHigher-dimensional continuation
dc.subject.otherSingularity-free path planning
dc.titleComputing wrench-feasible paths for cable-driven hexapods
dc.typeExternal research report
dc.subject.lemacRobots -- Moviment
dc.contributor.groupUniversitat Politècnica de Catalunya. ROBiri - Grup de Robòtica de l'IRI
dc.rights.accessOpen Access
dc.description.versionPostprint (published version)
upcommons.citation.authorBohigas, O.; Manubens, M.; Ros, L.
upcommons.citation.publicationNameComputing wrench-feasible paths for cable-driven hexapods

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