A Bounding Volume of the Cable Span for Fast Collision Avoidance Verification
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.
KeywordsCable-Driven Parallel Robot Cable Span Collision
Unable to display preview. Download preview PDF.
This work was supported by the ANR under grant ANR-15-CE10-0006, project DexterWide.
- 1.Forrest Montgomery and Joshua Vaughan. Suppression of cable suspended parallel manipulator vibration utilizing input shaping. In Conference on Control Technology and Applications, 2017.Google Scholar
- 2.Xavier Weber, Loïc Cuvillon, and Jacques Gangloff. Active vibration canceling of a cable-driven parallel robot in modal space. In IEEE International Conference on Robotics and Automation, 2015.Google Scholar
- 3.Rushton, Mitchell. Vibration control in cable robots using a multi-axis reaction system. Master’s thesis, Univ. Waterloo, 2016.Google Scholar
- 4.Xavier Weber, Loc Cuvillon, and Jacques Gangloff. Active vibration canceling of a cable-driven parallel robot using reaction wheels. In IEEE/RSJ International Conference on Intelligent Robots and Systems, 2014.Google Scholar
- 5.Maximilian Lesellier, Loïc Cuvillon, Jacques Gangloff, and Marc Gouttefarde. An active stabilizer for cable-driven parallel robot vibration damping. In IEEE/RSJ International Conference on Intelligent Robots and Systems, 2018.Google Scholar
- 8.Andreas Pott. Determination of the cable span and cable deflection of cable-driven parallel robots. In C. Gosselin, P. Cardou, T. Bruckmann, and A. Pott, editors, Cable-Driven Parallel Robots. Springer, 2017.Google Scholar
- 9.Jean-Pierre Merlet. Analysis of the influence of wires interference on the workspace of wire robots. In Advances in Robot Kinematics (ARK), 2004.Google Scholar
- 10.Martin J-D Otis, Simon Perreault, Thien-Ly Nguyen-Dang, Patrice Lambert, Marc Gouttefarde, Denis Laurendeau, and Clément Gosselin. Determination and management of cable interferences between two 6-dof foot platforms in a cable-driven locomotion interface. IEEE Transactions on Systems, Man, and Cybernetics-Part A: Systems and Humans, 39(3), 2009.Google Scholar
- 11.Simon Perreault, Philippe Cardou, Clément M Gosselin, and Martin J-D Otis. Geometric determination of the interference-free constant-orientation workspace of parallel cable-driven mechanisms. Journal of Mechanisms and Robotics, 2(3), 2010.Google Scholar
- 12.D. Q. Nguyen and M. Gouttefarde. On the improvement of cable collision detection algorithms. In T. Bruckmann and A. Pott, editors, Cable-Driven Parallel Robots, pages 29–40. Springer, 2014.Google Scholar
- 13.A. Martin, S. Caro, and P. Cardon. Geometric determination of the cable-cylinder interference regions in the workspace of a cable-driven parallel robot. In C. Gosselin, P. Cardou, T. Bruckmann, and A. Pott, editors, Cable-Driven Parallel Robots, pages 117–127. Springer, 2017. Title Suppressed Due to Excessive Length 11.Google Scholar
- 16.J. O’Rourke. Computational Geometry in C. Cambridge University Press, 2nd edition edition, 1998.Google Scholar