Abstract
Design model and cooperative localization scheme of the CPRMC are presented, and the improved localization algorithm based on multilateration method is designed. The global path planning of the CPRMC is performed based on the artificial potential field method with the grid method, and the sensor technology is applied to the cooperative obstacle avoidance, and combined with Matlab and LabVIEW, a co-simulation platform is built for cooperative obstacle avoidance analysis. A four-point collaborative leveling method is adopted for automatic leveling control of the platform for the CPRMC.
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Zi, B., Qian, S. (2017). Obstacle Avoidance Planning of the Cooperative Cable Parallel Manipulators for Multiple Mobile Cranes. In: Design, Analysis and Control of Cable-suspended Parallel Robots and Its Applications. Springer, Singapore. https://doi.org/10.1007/978-981-10-1753-7_8
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DOI: https://doi.org/10.1007/978-981-10-1753-7_8
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Online ISBN: 978-981-10-1753-7
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