Paper Info
Title
Trajectory Optimization for a Six-DOF Cable-Suspended Parallel Robot with Dynamic Motions Beyond the Static Workspace.
Abstract
This paper presents a trajectory optimization formulation for planning dynamic trajectories of a six-degree-of-freedom (six-DOF) cable-suspended parallel robot (CSPR) that extend beyond the static workspace. The optimization is guided by low-dimensional dynamic models to overcome the local minima and accelerate the exploration of the narrow feasible state space. The dynamic similarity between the six-DOF CSPR and the three-DOF point-mass CSPR is discussed with the analyses of their feasible force polyhedra. Finally, the transition trajectories of a three-DOF CSPR are used as the initial guess of the translational part of the six-DOF motion. With the proposed approach, highly dynamic motions for a six-DOF CSPR are efficiently generated with multiple oscillations. The feasibility is demonstrated by point-to-point and periodic trajectories in the physics simulation.
Year
DOI
Venue
2020
10.1109/ICRA40945.2020.9196803
ICRA
Keywords
DocType
Volume
Dynamic trajectory planning,optimization and optimal control,cable-suspended parallel robots
Conference
2020
Issue
Citations 
PageRank 
1
0
0.34
References 
Authors
6
4
Name
Order
Citations
PageRank
Sheng Xiang100.34
Haibo Gao224639.27
Zhen Liu360.79
Clément M. Gosselin427131.88