Cable-driven parallel robots (CDPRs) are under-actuated if they use a number of cables smaller than the degrees of freedom (DoF) of the end-effector (EE). For these robots, the constraint deficiency on the EE may lead to undesirable EE oscillations along the path that it is supposed to track. This paper proposes a trajectory-planning method for underactuated CDPRs which is robust against dynamic-model uncertainties or parameter variation, aiming at minimizing EE oscillations along a prescribed path. Oscillation reduction and robustness are achieved by means of Zero-Vibration Multi-Mode Input Shaping and Dynamic Scaling of a reference trajectory. Simulation results show the effectiveness of the method on a 3-cable 6-DoF robot.
CITATION STYLE
Idà, E., Briot, S., & Carricato, M. (2021). Robust Trajectory Planning of Under-Actuated Cable-Driven Parallel Robot with 3 Cables. In Springer Proceedings in Advanced Robotics (Vol. 15, pp. 65–72). Springer Science and Business Media B.V. https://doi.org/10.1007/978-3-030-50975-0_9
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