Cable-driven parallel robots (CDPRs) are under-actuated if they use a number of cables smaller than the degrees of freedom (DoF) of the end-effector (EE). For these robots, the constraint deficiency on the EE may lead to undesirable EE oscillations along the path that it is supposed to track. This paper proposes a trajectory-planning method for underactuated CDPRs which is robust against dynamic-model uncertainties or parameter variation, aiming at minimizing EE oscillations along a prescribed path. Oscillation reduction and robustness are achieved by means of Zero-Vibration Multi-Mode Input Shaping and Dynamic Scaling of a reference trajectory. Simulation results show the effectiveness of the method on a 3-cable 6-DoF robot.


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    Title :

    Robust Trajectory Planning of Under-Actuated Cable-Driven Parallel Robot with 3 Cables


    Additional title:

    Springer Proceedings in Advanced Robotics


    Contributors:

    Conference:

    International Symposium on Advances in Robot Kinematics ; 2020 ; Ljubljana, Slovenia December 06, 2020 - December 10, 2020



    Publication date :

    2020-07-18


    Size :

    8 pages





    Type of media :

    Article/Chapter (Book)


    Type of material :

    Electronic Resource


    Language :

    English