Paper Info
Title
Continuous Collision Detection For A Robotic Arm Mounted On A Cable-Driven Parallel Robot
Abstract
A continuous collision checking method for a cable-driven parallel robot with an embarked robotic arm is proposed in this paper. The method aims at validating paths by checking for collisions between any pair of robot bodies (mobile platform, cables, and arm links). For a pair of bodies, an upper bound on their relative velocity and a lower bound on the distance between the bodies are computed and used to validate a portion of the path. These computations are done repeatedly until a collision is found or the path is validated. The method is integrated within the Humanoid Path Planner (HPP) software, tested with the cable-driven parallel robot CoGiRo, and compared to a discretized validation method.
Year
DOI
Venue
2019
10.1109/IROS40897.2019.8967836
2019 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS)
Field
DocType
ISSN
Computer vision,Parallel manipulator,Robotic arm,Collision detection,Computer science,Simulation,Upper and lower bounds,Collision,Software,Artificial intelligence,Relative velocity,Robot
Conference
2153-0858
Citations 
PageRank 
References 
0
0.34
0
Authors
4
Name
Order
Citations
PageRank
Diane Bury100.34
Jean Baptiste Izard201.35
Marc Gouttefarde38412.04
Florent Lamiraux438735.54