A Reconfiguration Strategy for Reconfigurable Cable-Driven Parallel Robots

Abstract : This paper deals with Reconfigurable Cable-Driven Parallel Robots (RCDPRs). A RCDPR is able to change the locations of its cable exit points, the latter being defined as the connection points between the cables and the robot base frame. Given a RCDPR, a set of possible reconfigurations, a desired platform path and a description of the robot environment, the reconfiguration strategy proposed in this paper selects the optimal configurations to be associated to each point of the desired path. The selection of the optimal configurations can be performed with respect to several criteria such as the number of configuration changes, the number of cable reconfigurations and the robot stiffness. In this paper, the optimization is performed using a Dijkstra's based algorithm.
Type de document :
Communication dans un congrès
ICRA: International Conference on Robotics and Automation, May 2015, Seattle, WA, United States. 32nd IEEE International Conference on Robotics and Automation, 2015, 〈http://icra2015.org〉. 〈10.1109/ICRA.2015.7139404〉
Liste complète des métadonnées

https://hal-lirmm.ccsd.cnrs.fr/lirmm-01221409
Contributeur : Marc Gouttefarde <>
Soumis le : samedi 1 décembre 2018 - 17:26:01
Dernière modification le : samedi 1 décembre 2018 - 17:28:48

Fichier

root.pdf
Fichiers produits par l'(les) auteur(s)

Identifiants

Citation

Lorenzo Gagliardini, Stéphane Caro, Marc Gouttefarde, Alexis Girin. A Reconfiguration Strategy for Reconfigurable Cable-Driven Parallel Robots. ICRA: International Conference on Robotics and Automation, May 2015, Seattle, WA, United States. 32nd IEEE International Conference on Robotics and Automation, 2015, 〈http://icra2015.org〉. 〈10.1109/ICRA.2015.7139404〉. 〈lirmm-01221409〉

Partager

Métriques

Consultations de la notice

328

Téléchargements de fichiers

2