Minimum-time trajectory planning of spatial cable-suspended robots along a specified path considering both tension and velocity constraints

Hamid Reza Fahham, Mehrdad Farid

Research output: Contribution to journalArticlepeer-review

7 Citations (Scopus)

Abstract

In this article, minimum-time trajectory planning problems of spatial non-redundant and redundant cable suspended robots are addressed. Both cable tensions and cable velocities are considered to be limited. The equations of motion of such systems are reduced to a system of second order differential equations in terms of path parameter s using the specified desired path. The bounds on the cable tensions and cable velocities are transformed into bounds on the acceleration and velocity along the path. By assuming bang-bang control, the switching points in the ṡ2 - s plane are obtained. Then the cable tensions as the inputs are found versus path parameter and subsequently versus time.

Original languageEnglish
Pages (from-to)387-402
Number of pages16
JournalEngineering Optimization
Volume42
Issue number4
Early online date19 Feb 2010
DOIs
Publication statusPublished - 1 Apr 2010
Externally publishedYes

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