On the Improvement of Cable Collision Detection Algorithms

Dinh Quan Nguyen 1 Marc Gouttefarde 1
1 DEXTER - Conception et commande de robots pour la manipulation
LIRMM - Laboratoire d'Informatique de Robotique et de Microélectronique de Montpellier
Abstract : This paper presents several algorithms to detect the cable interferences for a general spatial Cable-Driven Parallel Robot (CDPR). Two types of cable interferences are considered. The first type is the collisions between cables and cables. The second type is the interferences between cables and the CDPR mobile platform. In each case, an algorithm is proposed to efficiently verify the cable interferences. The use of the proposed algorithms is then illustrated by a verification procedure of the collision free condition over a given Cartesian workspace and orientation workspace of a CDPR. These tools can be used in the design or planning phase of a general CDPR.
Type de document :
Communication dans un congrès
CableCon: Cable-Driven Parallel Robots, Aug 2014, Duisburg, Germany. Proceedings of the Second International Conference on Cable-Driven Parallel Robots, 32, pp.29-40, 2014, Mechanisms and Machine Science. 〈10.1007/978-3-319-09489-2_3〉
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https://hal-lirmm.ccsd.cnrs.fr/lirmm-01221405
Contributeur : Marc Gouttefarde <>
Soumis le : mercredi 28 octobre 2015 - 01:01:03
Dernière modification le : jeudi 24 mai 2018 - 15:59:21

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Dinh Quan Nguyen, Marc Gouttefarde. On the Improvement of Cable Collision Detection Algorithms. CableCon: Cable-Driven Parallel Robots, Aug 2014, Duisburg, Germany. Proceedings of the Second International Conference on Cable-Driven Parallel Robots, 32, pp.29-40, 2014, Mechanisms and Machine Science. 〈10.1007/978-3-319-09489-2_3〉. 〈lirmm-01221405〉

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