Interference detection for cable-driven parallel robots (CDPRs)
| Autor: | Jean-Pierre Merlet, Laurent Blanchet |
|---|---|
| Přispěvatelé: | HExapode, PHysiologie, AssISTance et Objets de Service (HEPHAISTOS), Inria Sophia Antipolis - Méditerranée (CRISAM), Institut National de Recherche en Informatique et en Automatique (Inria)-Institut National de Recherche en Informatique et en Automatique (Inria), European Community’s Seventh Framework Program, grant agreement NMP2-SL-2011-285404 (CABLEBOT), Hephaistos, European Project: 285404,EC:FP7:NMP,FP7-2011-NMP-ICT-FoF,CABLEBOT(2011) |
| Jazyk: | angličtina |
| Rok vydání: | 2014 |
| Předmět: |
Engineering
Workspace Interference (wave propagation) [INFO.INFO-CG]Computer Science [cs]/Computational Geometry [cs.CG] Interval arithmetic Computer Science::Robotics Cable-Driven Parallel Robots Electronic engineering [INFO.INFO-RB]Computer Science [cs]/Robotics [cs.RO] leg interference [MATH]Mathematics [math] Interval Analysis Computer Science::Information Theory robotics business.industry Parallel manipulator Robotics Collision [INFO.INFO-MO]Computer Science [cs]/Modeling and Simulation Robot Cable driven Index Terms— Modeling and Design Artificial intelligence business [MATH.MATH-NA]Mathematics [math]/Numerical Analysis [math.NA] collision |
| Zdroj: | Advanced Intelligent Mechatronics (AIM), 2014 IEEE/ASME International Conference Advanced Intelligent Mechatronics (AIM), 2014 IEEE/ASME International Conference, Jul 2014, Besancon, France. pp.1413-1418, ⟨10.1109/AIM.2014.6878280⟩ AIM |
| DOI: | 10.1109/AIM.2014.6878280⟩ |
| Popis: | International audience; The main advantage of CDPRs is large workspaces. However, multiple legs and large workspace are both factors for interference. We consider a CDPR platform within a 6D workspace, and as sources of interference the collisions with the robot's environment and self interference. We present two algorithms and their interval analysis-based applications to handle the different types of interference. Finally, the efficiencies of the algorithms are presented. |
| Databáze: | OpenAIRE |
| Externí odkaz: |
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