Computing wrench-feasible paths for cable-driven hexapods
| Autor: | Bohigas, Oriol, Manubens Ferriol, Montserrat, Ros Giralt, Lluís|||0000-0002-8338-6062 |
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| Přispěvatelé: | Universitat Politècnica de Catalunya. Departament d'Enginyeria de Sistemes, Automàtica i Informàtica Industrial, Universitat Politècnica de Catalunya. ROBiri - Grup de Robòtica de l'IRI |
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| Zdroj: | Recercat. Dipósit de la Recerca de Catalunya Universitat Jaume I UPCommons. Portal del coneixement obert de la UPC Universitat Politècnica de Catalunya (UPC) |
| Popis: | Motion paths of cable-driven hexapods must carefully be planned to ensure that the lengths and tensions of all cables remain within acceptable limits, for a given wrench applied to the platform. The cables cannot go slack -to keep the control of the robot- nor excessively tight -to prevent cable breakage- even in the presence of bounded perturbations of the wrench. This paper proposes a path planning method that accommodates such constraints simultaneously. Given two configurations of the robot, the method attempts to connect them through a path that, at any point, allows the cables to counteract any wrench lying in a predefined uncertainty region. The feasible C-space is placed in correspondence with a smooth manifold, which facilitates the definition of a continuation strategy to search this space systematically from one configuration, until the second configuration is found, or path non-existence is proved at the resolution of the search. The force Jacobian is full rank everywhere on the C-space, which implies that the computed paths will naturally avoid crossing the forward singularity locus of the robot. The adjustment of tension limits, moreover, allows to maintain a meaningful clearance relative to such locus. The approach is applicable to compute paths subject to geometric constraints on the platform pose, or to synthesize free-flying motions in the full six-dimensional C-space. Experiments are included that illustrate the performance of the method in a real prototype. |
| Databáze: | OpenAIRE |
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