Title :
Interference detection for cable-driven parallel robots (CDPRs)
Author :
Blanchet, Laurent ; Merlet, Jean-Pierre
Author_Institution :
Inria S-A Mediterranee, Team Hephaistos, Sophia-Antipolis, France
Abstract :
The main advantage of CDPRs is large workspaces. However, multiple legs and large workspace are both factors for interference. We consider a CDPR platform within a 6D workspace, and as sources of interference the collisions with the robot´s environment and self interference. We present two algorithms and their interval analysis-based applications to handle the different types of interference. Finally, the efficiencies of the algorithms are presented.
Keywords :
collision avoidance; legged locomotion; 6D workspace; CDPR platform; cable-driven parallel robots; interference detection; interval analysis-based applications; Cable shielding; Equations; Interference; Legged locomotion; Mathematical model; Silicon; Vectors; Cable-Driven Parallel Robots; Interval Analysis; Modeling and Design; collision; leg interference; robotics;
Conference_Titel :
Advanced Intelligent Mechatronics (AIM), 2014 IEEE/ASME International Conference on
Conference_Location :
Besacon
DOI :
10.1109/AIM.2014.6878280
