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A Bounding Volume of the Cable Span for Fast Collision Avoidance Verification

  • Conference paper
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Cable-Driven Parallel Robots (CableCon 2019)

Part of the book series: Mechanisms and Machine Science ((Mechan. Machine Science,volume 74))

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Abstract

The problem of verifying the absence of collision between a cable and the mobile part(s) of a device located on-board the mobile platform of a Cable-Driven Parallel Robot (CDPR) is addressed. The set of all positions taken by one cable of the CDPR for all the poses of the mobile platform in a prescribed workspace is called the cable span. A simple bounding volume approximation of the cable span is proposed in this paper. This bounding volume is a polyhedron and the characterization of the faces of this polyhedron is discussed. Using this polyhedron as a bounding volume of the cable span allows to accelerate computations related to collision avoidance checking.

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Acknowledgement

This work was supported by the ANR under grant ANR-15-CE10-0006, project DexterWide.

Author information

Authors and Affiliations

  1. LIRMM, Université de Montpellier, CNRS, Montpellier, France

    M. Lesellier & M. Gouttefarde

  2. ICUBE, Université de Strasbourg, Strasbourg, France

    M. Lesellier

Authors
  1. M. Lesellier
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  2. M. Gouttefarde
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Corresponding author

Correspondence to M. Gouttefarde .

Editor information

Editors and Affiliations

  1. University of Stuttgart, Stuttgart, Germany

    Andreas Pott

  2. Universität Duisburg-Essen, Duisburg, Germany

    Tobias Bruckmann

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Lesellier, M., Gouttefarde, M. (2019). A Bounding Volume of the Cable Span for Fast Collision Avoidance Verification. In: Pott, A., Bruckmann, T. (eds) Cable-Driven Parallel Robots. CableCon 2019. Mechanisms and Machine Science, vol 74. Springer, Cham. https://doi.org/10.1007/978-3-030-20751-9_15

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