MODELING, OPTIMAL PATH PLANNING, AND TRACKING CONTROL OF A CABLE DRIVEN REDUNDANT PARALLEL ROBOT

Q: How can I download an article?

To download an article from SID, first log in to the site, search for the article title, and click on the 'Download Article' option.

Q: How can I download an ISI article?

To download an ISI article on SID, enter the keyword or article title in the search bar, view the relevant results, click on the desired article, and select the 'Download Article' option.

Q: How can I access the SID database?

To access the SID database, visit SID.ir, create an account, and log in to access scientific resources.

Q: Is downloading articles from SID free?

Some articles on SID are available for free, while others require payment. Details are specified on the article's page.

GHANBARI MASOUD; MOUSAVI MOHAMMAD REZA; MOOSAVIAN S. ALI A.; ZARAFSHAN PAYAM

مرکز اطلاعات علمی Scientific Information Database (SID) - Trusted Source for Research and Academic Resources

Journal Paper

Paper Information

Journal: Modares Mechanical Engineering Year:2017 | Volume:17 | Issue:4 Page(s): 67-77

Download Full-Text

Persian Verion

View:

1,011

Download:

Cites:

Information Journal Paper

Title

MODELING, OPTIMAL PATH PLANNING, AND TRACKING CONTROL OF A CABLE DRIVEN REDUNDANT PARALLEL ROBOT

Author(s)

GHANBARI MASOUD | MOUSAVI MOHAMMAD REZA | MOOSAVIAN S. ALI A. | ZARAFSHAN PAYAM | Issue Writer Certificate

Keywords

CABLE ROBOTQ1

MODELINGQ2

PATH PLANNINGQ2

CONTROLQ2

REDUNDANCYQ1

Abstract

In this paper, dynamic MODELING, optimal PATH PLANNING and CONTROL scheme on a redundant parallel CABLE ROBOTis presented. PATH PLANNING in parallel robots necessitates the consideration of robot’s kinematics to discern the singularities in the workspace. Also, dynamics analysis is required to consider actuation constraints. To this end, kinematics and dynamics of cable driven redundant parallel robot is derived. In this MODELING, cables are assumed to be rigid with negligible mass and hence, tension and sagging along the cable are neglected. Next, a sampling-based algorithm upon rapidly-exploring random tree is developed to increase the convergence rate. In this scheme, distance, epochs and safety are considered as optimization constraints. To evaluate the performance of the proposed algorithm in collision avoidance, a number of obstacles have been considered too. Tracking of the planned path has been handled using a feed-forward CONTROLler in the presence of obstacles. Regarding the REDUNDANCY feature of robot, a REDUNDANCY resolution scheme is considered for optimal force distribution. PATH PLANNING and CONTROL algorithms are implemented on the RoboCab (ARAS Lab.) and experimental results reveal the efficiency of the proposed schemes.

Cites

No record.

References

No record.

Cite

APA: Copy

GHANBARI, MASOUD, MOUSAVI, MOHAMMAD REZA, MOOSAVIAN, S. ALI A., & ZARAFSHAN, PAYAM. (2017). MODELING, OPTIMAL PATH PLANNING, AND TRACKING CONTROL OF A CABLE DRIVEN REDUNDANT PARALLEL ROBOT. MODARES MECHANICAL ENGINEERING, 17(4 ), 67-77. SID. https://sid.ir/paper/178865/en

Vancouver: Copy

GHANBARI MASOUD, MOUSAVI MOHAMMAD REZA, MOOSAVIAN S. ALI A., ZARAFSHAN PAYAM. MODELING, OPTIMAL PATH PLANNING, AND TRACKING CONTROL OF A CABLE DRIVEN REDUNDANT PARALLEL ROBOT. MODARES MECHANICAL ENGINEERING[Internet]. 2017;17(4 ):67-77. Available from: https://sid.ir/paper/178865/en

IEEE: Copy

MASOUD GHANBARI, MOHAMMAD REZA MOUSAVI, S. ALI A. MOOSAVIAN, and PAYAM ZARAFSHAN, “MODELING, OPTIMAL PATH PLANNING, AND TRACKING CONTROL OF A CABLE DRIVEN REDUNDANT PARALLEL ROBOT,” MODARES MECHANICAL ENGINEERING, vol. 17, no. 4 , pp. 67–77, 2017, [Online]. Available: https://sid.ir/paper/178865/en

Related Journal Papers