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Conference Papers Year : 2021

Path Following Demonstration of a Hybrid Cable-Driven Parallel Robot

Micaël Michelin
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Pierre-Elie Hervé
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Jean-Baptiste Izard

Abstract

In the context of applications requiring large workspace such as painting of airliners, a cable-driven parallel robot (CDPR) having a manipulator (robot arm) on-board its mobile platform possesses an interesting potential. Such a robotic system has typically more than six degrees of freedom (DOFs) and, hence, more than the minimum required to accomplish a task in Cartesian space. In particular, a robotic system consisting of a six-DOF cable-driven parallel robot whose mobile platform is equipped with a seven-DOF manipulator is considered in this paper. This robotic system being kinematically redundant, a redundancy resolution scheme is used to allow its end-effector to follow a relatively complex path in Cartesian space while avoiding cable collisions and satisfying some constraints on the CDPR workspace.

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Dates and versions

lirmm-03409481 , version 1 (29-10-2021)

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Micaël Michelin, Pierre-Elie Hervé, Olivier Tempier, Jean-Baptiste Izard, Marc Gouttefarde. Path Following Demonstration of a Hybrid Cable-Driven Parallel Robot. CableCon 2021 - 5th International Conference on Cable-Driven Parallel Robots, Jul 2021, Virtual, France. pp.323-335, ⟨10.1007/978-3-030-75789-2_26⟩. ⟨lirmm-03409481⟩
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