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Please use this identifier to cite or link to this item: http://repository.iitr.ac.in/handle/123456789/26484
Title: On determining shortest path in joint space of a cable-driven parallel robot for point-to-point motion
Authors: Mishra U.A.
Chawla I.
Pathak, Pushparaj Mani
Published in: 2020 28th Mediterranean Conference on Control and Automation, MED 2020
28th Mediterranean Conference on Control and Automation, MED 2020
Abstract: This paper presents a methodology to determine the shortest path in the joint space of a cable-driven parallel robot for point-to-point motions. The formulation is based on the joint space domain i.e., cable length and the shortest path in joint space is determined between the two points. The path is constrained by the 4th degree polynomial in the Cartesian space and the objective function representing the total path length in the joint space is formulated. The parameters of the path are obtained by minimizing the objective function using genetic algorithm while satisfying the non-negative cable tension constraints. The proposed methodology is validated using a 3-DOF planar and a 6-DOF spatial cable-driven robot. The obtained optimized shortest path is compared to a straight-line path and the results obtained shows a significant reduction in the joint space path length of a cable-driven parallel robot for the optimized path. The reduction will be even more significant for the large-scale cable-driven parallel robot. © 2020 IEEE.
Citation: 2020 28th Mediterranean Conference on Control and Automation, MED 2020 (2020): 984-989
URI: https://doi.org/10.1109/MED48518.2020.9183198
http://repository.iitr.ac.in/handle/123456789/26484
Issue Date: 2020
Publisher: Institute of Electrical and Electronics Engineers Inc.
Keywords: Cables
Genetic algorithms
Graph theory
Cable tension
Cartesian Space
Objective functions
Parallel robots
Point-to-point motion
Spatial cable
Straight-line paths
Total path length
Robots
ISBN: 9781728157429
Author Scopus IDs: 57219311420
57201745878
8386080200
Author Affiliations: Mishra, U.A., Indian Institute of Technology, Roorkee, Uttarakhand, 247667, India
Chawla, I., Indian Institute of Technology, Roorkee, Uttarakhand, 247667, India
Pathak, P.M., Indian Institute of Technology, Roorkee, Uttarakhand, 247667, India
Funding Details: This research was undertaken through the scheme for promotion of academic and research collaboration (SPARC) project funded by MHRD, Government of India, under Project No. SPARC/2018-2019/P713/SL. IIT Roorkee, India, IIT Kharagpur, India and Queen’s University, Canada, are the collaborating institutions in the above-mentioned project. Ministry of Human Resource Development, MHRD: SPARC/2018-2019/P713/SL
Appears in Collections:Conference Publications [ME]

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