A real-time path planning algorithm for cable-driven parallel robots in dynamic environment based on artificial potentia
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TECHNICAL PAPER
A real-time path planning algorithm for cable-driven parallel robots in dynamic environment based on artificial potential guided RRT Jiajun Xu1 • Kyoung-Su Park1 Received: 17 November 2019 / Accepted: 26 June 2020 Springer-Verlag GmbH Germany, part of Springer Nature 2020
Abstract This paper deals with the collision-free path planning of cable-driven parallel robots (CDPRs) in a dynamic threedimensional environment. The proposed algorithm is based on the artificial potential field (APF) approach which provides a simple and effective path planning method. However, the APF approach is easy to cause the robot oscillation and hard to reach the goal when it is applied in a dynamic environment. To overcome these two problems, the rapidly exploring random tree (RRT) was used to provide a random disturbance in order to reduce oscillations and reach the goal in less time. Due to the particularity of CDPRs, the proposed algorithm consider the wrench feasible workspace (WFW) and various collision conditions caused by the cable. The proposed algorithms were evaluated with three kinds of simulations. According to the simulation results, the proposed algorithms found an optimized path with less time cost was reduced about 27% compared with the APF approach. Furthermore, the oscillation phenomenon in the APF approach was effectively mitigated by 49%. Finally, the experimental result demonstrates the validity of the proposed algorithm.
1 Introduction Cable-driven parallel robots (CDPRs) is a special type of parallel robots which mainly transmit the force and motion from the driving device to the end-effector by the cable (Gosselin 2014). As a result of cable actuation, CDPRs have several advantages such as a large workspace, high motion speed, and high payload capacity (Heo et al. 2018). These advantages make CDPRs widely used in material handling, industrial production, virtual reality and aircraft spraying, etc. (Martin et al. 2018; Wu et al. 2015; Michelin et al. 2014). Therefore, many researchers have focused on utilizing the cable to exert the advantage of CDPRs. However, CDPRs also have some problems induced by a cable actuation. Because the cable can only be pulled, one fundamental issue about CDPRs is to guarantee that the cable tensions remain positive all the time. This special characteristic determines the wrench feasible workspace (WFW) in which any wrench can be generated at the endeffector while satisfying the cable tension limits (Nguyen & Kyoung-Su Park [email protected] 1
Department of Mechanical Engineering, Gachon University, 1342 Seongnamdaero, Sujeong-gu, Seongnam-si 461-701, Gyeonggi-do, Korea
and Gouttefarde 2014). The research on WFW has made great progress that a variety of workspaces such as stiffness feasible workspace and collision-free workspace were proposed (Gouttefarde et al. 2010; Wang et al. 2016; Bolboli et al. 2019). The other issue about CDPRs is the cable interferences during the path planning in case of a cluttered environm
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