Optimum design of planar redundant cable-suspended robots for minimum time trajectory tracking

Hamid Reza Fahham, Mehrdad Farid

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

3 Citations (Scopus)

Abstract

In this paper, the optimum configuration of superfluous cables in redundant planar cable-suspended robots for minimum time trajectory is investigated. Both cable tensions and cable velocities are assumed to be limited. The bounds on the cable tensions and velocities are transformed into the bounds on the acceleration and velocity along the specified path. Assuming bang-bang control and using genetic algorithm, optimum configuration of superfluous cables and the corresponded switching points are obtained. Moreover, the effect of number of superfluous cables on the minimum time is investigated.

Original languageEnglish
Title of host publicationICCAS 2010 - International Conference on Control, Automation and Systems
PublisherIEEE
Pages2156-2163
Number of pages8
ISBN (Electronic)9788993215021
ISBN (Print)9781424474530
DOIs
Publication statusPublished - 17 Dec 2010
Externally publishedYes
EventInternational Conference on Control, Automation and Systems - Gyeonggi-do, Korea, Republic of
Duration: 27 Oct 201030 Oct 2010

Conference

ConferenceInternational Conference on Control, Automation and Systems
Abbreviated titleICCAS 2010
CountryKorea, Republic of
CityGyeonggi-do
Period27/10/1030/10/10

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