Dynamic trajectory planning study of planar two-dof redundantly actuated cable-suspended parallel robots

Mechatronics ◽  
2015 ◽  
Vol 30 ◽  
pp. 187-197 ◽  
Author(s):  
Lewei Tang ◽  
Xiaoqiang Tang ◽  
Xiaoling Jiang ◽  
Clément Gosselin
Keyword(s):  
Trajectory Planning ◽  
Parallel Robots ◽  
Planning Study ◽  
Redundantly Actuated ◽  
Dynamic Trajectory

Dynamic Trajectory Planning for Failure Recovery in Cable-Suspended Camera Systems

2019 ◽  
Vol 11 (2) ◽  
Author(s):  
Chiara Passarini ◽  
Damiano Zanotto ◽  
Giovanni Boschetti
Keyword(s):  
Trajectory Planning ◽  
Real World ◽  
Parallel Robots ◽  
Research Topic ◽  
Failure Recovery ◽  
Relevant Research ◽  
End Effector ◽  
Camera Systems ◽  
Real World Applications ◽  
Dynamic Trajectory

The use of cable-driven parallel robots (CDPR) in real-world applications makes safety a major concern for these devices and a relevant research topic. Cable-suspended camera systems are among the earliest and most common applications of CDPRs. In this paper, we propose a novel after-failure approach for cable-suspended camera systems. This strategy, which is applied after a cable breaks, seeks to drive the end effector, i.e., the camera, toward a safe pose, following an oscillatory trajectory that guarantees positive and bounded tensions in the remaining cables. The safe landing location is optimized to minimize the trajectory time while avoiding collisions with the physical boundaries of the workspace. Results of numerical simulations indicate the feasibility of the proposed approach.

Dynamic trajectory planning for unmanned ship under multi-object environment

2021 ◽  
Author(s):  
Mengxia Li ◽  
Junmin Mou ◽  
Yixiong He ◽  
Xiaohan Zhang ◽  
Qinqiong Xie ◽  
...  
Keyword(s):  
Trajectory Planning ◽  
Unmanned Ship ◽  
Dynamic Trajectory
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