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Trajectory Planning of Cable-Suspended Parallel Robots Using Interval Positive-Definite Polynomials

[+] Author Affiliations
Ping Ren, Clément Gosselin

Université Laval, Québec, QC, Canada

Paper No. DETC2012-71205, pp. 867-875; 9 pages
  • ASME 2012 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference
  • Volume 4: 36th Mechanisms and Robotics Conference, Parts A and B
  • Chicago, Illinois, USA, August 12–15, 2012
  • Conference Sponsors: Design Engineering Division, Computers and Information in Engineering Division
  • ISBN: 978-0-7918-4503-5
  • Copyright © 2012 by ASME


In this paper, the dynamic point-to-point trajectory planning of cable-suspended robots is investigated. A simple planar two-degree-of-freedom (2-dof) robot is used to demonstrate the technique. In order to maintain the cables’ positive tension, a set of algebraic inequalities is derived from the dynamic model of the 2-dof robot. The trajectories are defined using parametric polynomials with the coefficients determined by the prescribed initial and final states, and the variable time duration. With the polynomials substituted into the inequality constraints, the planning problem is then converted into an algebraic investigation on how the coefficients of the polynomials will affect the number of real roots over a given interval. An analytical approach based on a polynomial’s Discrimination Matrix and Discriminant Sequence is proposed to solve the problem. It is shown that, by adjusting the time duration within appropriate ranges, it is possible to find positive-definite polynomials such that the polynomial-based trajectories always satisfy the inequality constraints of the dynamic system. Feasible dynamic trajectories that are able to travel both beyond and within the static workspace will exploit more potential of the cable-suspended robotic platform.

Copyright © 2012 by ASME



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