TY - GEN
T1 - Trajectory Optimization for a Six-DOF Cable-Suspended Parallel Robot with Dynamic Motions beyond the Static Workspace
AU - Xiang, Sheng
AU - Gao, Haibo
AU - Liu, Zhen
AU - Gosselin, Clement
N1 - Publisher Copyright:
© 2020 IEEE.
PY - 2020/5
Y1 - 2020/5
N2 - 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.
AB - 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.
KW - Dynamic trajectory planning
KW - cable-suspended parallel robots
KW - optimization and optimal control
UR - https://www.scopus.com/pages/publications/85092695531
U2 - 10.1109/ICRA40945.2020.9196803
DO - 10.1109/ICRA40945.2020.9196803
M3 - 会议稿件
AN - SCOPUS:85092695531
T3 - Proceedings - IEEE International Conference on Robotics and Automation
SP - 3903
EP - 3908
BT - 2020 IEEE International Conference on Robotics and Automation, ICRA 2020
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2020 IEEE International Conference on Robotics and Automation, ICRA 2020
Y2 - 31 May 2020 through 31 August 2020
ER -