Time-optimal trajectory planning in cable-based manipulators

被引:53
作者
Behzadipour, Saeed [1 ]
Khajepour, Amir
机构
[1] Univ Alberta, Dept Mech Engn, Edmonton, AB T6G 2G8, Canada
[2] Univ Waterloo, Dept Mech Engn, Waterloo, ON N2L 2G1, Canada
关键词
cable-based manipulators; high-speed robotics; parallel mechanisms; time-optimal trajectory;
D O I
10.1109/TRO.2006.870663
中图分类号
TP24 [机器人技术];
学科分类号
080202 ; 1405 ;
摘要
In this paper, the trajectory planning of high-speed cable-based parallel manipulators is studied for a given geometrical path. The time-optimal trajectory-planning technique is adapted for these manipulators in which cable forces must be maintained tensile. This condition is represented as a constraint on the acceleration of the end-effector along the path. The results of this technique are evaluated experimentally on DeltaBot, a cable-based manipulator developed at the University of Waterloo. The performance of the time-optimal technique is examined both for the moving time of the manipulator and the computational time of the trajectory generation.
引用
收藏
页码:559 / 563
页数:5
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