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

  • M. Lesellier
  • M. GouttefardeEmail author
Conference paper
Part of the Mechanisms and Machine Science book series (Mechan. Machine Science, volume 74)

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.

Keywords

Cable-Driven Parallel Robot Cable Span Collision 

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Notes

Acknowledgement

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

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Copyright information

© Springer Nature Switzerland AG 2019

Authors and Affiliations

  1. 1.LIRMM, Université de Montpellier, CNRSMontpellierFrance
  2. 2.ICUBE, Université de StrasbourgStrasbourgFrance

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