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.
https://hal-lirmm.ccsd.cnrs.fr/lirmm-02309368
Contributor : Marc Gouttefarde-Tanich
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Submitted on : Wednesday, October 9, 2019 - 11:22:38 AM
Last modification on : Thursday, October 10, 2019 - 2:24:48 PM
Maximilian Lesellier, Marc Gouttefarde. A Bounding Volume of the Cable Span for Fast Collision Avoidance Verification. CableCon: Cable-Driven Parallel Robots, Jun 2019, Krakow, Poland. pp.173-183, ⟨10.1007/978-3-030-20751-9_15⟩. ⟨lirmm-02309368⟩
