Collision free path-planning for cable-driven parallel robots

Authors:
Samir Lahouar;Erika Ottaviano;Said Zeghoul;Lotfi Romdhane;Marco Ceccarelli
Affiliations:
LMS: Laboratoire de Mécanique de Solides, Université de Poitiers, Poitiers, France;LARM: Lab. of Robotics and Mechatronics, DiMSAT, University of Cassino, Cassino (FR), Italy;LMS: Laboratoire de Mécanique de Solides, Université de Poitiers, Poitiers, France;LGM: Laboratoire de Génie Mécanique, Ecole Nationale d'Ingénieurs de Sousse, Sousse, Tunisia;LARM: Lab. of Robotics and Mechatronics, DiMSAT, University of Cassino, Cassino (FR), Italy
Venue:
Robotics and Autonomous Systems
Year:
2009

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Abstract

In this study, a path-planning method that has been developed for serial manipulators is adapted to cable-driven robots. The proposed method has two modes. The first one is active when the robot is far from an obstacle. In this mode, the robot moves toward the goal on a straight line. The second mode is active when the robot is near an obstacle. During this mode, the robot finds the best way to avoid the obstacle. Moreover, an algorithm is presented to detect the collision between the robot and the obstacle. A similar algorithm is also presented to avoid the collision of the cables with an obstacle. Some simulation results are shown, which are then validated experimentally using a built 4-cable-driven parallel manipulator. Although the path obtained between the initial and final poses may not be the shortest possible one, it guarantees finding a path, when it exists, no matter how cluttered the environment is.