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 language | English |
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| Title of host publication | ICCAS 2010 - International Conference on Control, Automation and Systems |
| Publisher | IEEE |
| Pages | 2156-2163 |
| Number of pages | 8 |
| ISBN (Electronic) | 9788993215021 |
| ISBN (Print) | 9781424474530 |
| DOIs | |
| Publication status | Published - 17 Dec 2010 |
| Externally published | Yes |
| Event | International Conference on Control, Automation and Systems - Gyeonggi-do, Korea, Republic of Duration: 27 Oct 2010 → 30 Oct 2010 |
Conference
| Conference | International Conference on Control, Automation and Systems |
|---|---|
| Abbreviated title | ICCAS 2010 |
| Country/Territory | Korea, Republic of |
| City | Gyeonggi-do |
| Period | 27/10/10 → 30/10/10 |