The use of cable-driven parallel robots (CDPR) in real-world applications makes safety a major concern for these devices and a relevant research topic. Cable-suspended camera systems are among the earliest and most common applications of CDPRs. In this paper, we propose a novel after-failure approach for cable-suspended camera systems. This strategy, which is applied after a cable breaks, seeks to drive the end effector, i.e., the camera, toward a safe pose, following an oscillatory trajectory that guarantees positive and bounded tensions in the remaining cables. The safe landing location is optimized to minimize the trajectory time while avoiding collisions with the physical boundaries of the workspace. Results of numerical simulations indicate the feasibility of the proposed approach.
Dynamic Trajectory Planning for Failure Recovery in Cable-Suspended Camera Systems
Contributed by the Mechanisms and Robotics Committee of ASME for publication in the JOURNAL OF MECHANISMS AND ROBOTICS. Manuscript received March 30, 2018; final manuscript received November 2, 2018; published online February 27, 2019. Assoc. Editor: Marc Gouttefarde.
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Passarini, C., Zanotto, D., and Boschetti, G. (February 27, 2019). "Dynamic Trajectory Planning for Failure Recovery in Cable-Suspended Camera Systems." ASME. J. Mechanisms Robotics. April 2019; 11(2): 021001. https://doi.org/10.1115/1.4041942
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