Time-optimal trajectory planning (TOTP) is a well-studied problem in robotics and manufacturing, which involves the minimization of the time required for the operation point of a mechanism to follow a path, subject to a set of constraints. A TOTP technique, designed for fully specified paths that include abrupt changes in direction, was previously introduced by the first author of this paper: an incremental approach called minimum-time trajectory shaping (MTTS) was used. In the current paper, MTTS is converted to a dynamic technique and adapted for use with cable-driven parallel robots, which exhibit cable tension and motor torque constraints. For many applications, cable tensions along a path are verified after trajectory generation, rather than imposed during trajectory generation. For the technique proposed in this paper, the cable-tension constraints are imposed directly and fully integrated with MTTS, during trajectory generation, thus maintaining a time-optimal solution. MTTS is applied to a test system and path, and compared to the bang–bang technique. With the same constraints, the results obtained with both techniques are found to be very close. However, MTTS can be applied to a wider variety of paths, and accepts constraints on jerk and total acceleration that would be difficult to apply using the bang–bang approach.
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July 2015
Research-Article
Time-Optimal Trajectory Planning of Cable-Driven Parallel Mechanisms for Fully Specified Paths With G1-Discontinuities
Eric Barnett,
Eric Barnett
1
Départment de Génie Mécanique,
e-mail: eric.barnett.1@ulaval.ca
Université Laval
,Québec, QC G1V 0A6
, Canada
e-mail: eric.barnett.1@ulaval.ca
1Corresponding author.
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Clément Gosselin
Clément Gosselin
Départment de Génie Mécanique,
e-mail: gosselin@gmc.ulaval.ca
Université Laval
,Québec, QC G1V 0A6
, Canada
e-mail: gosselin@gmc.ulaval.ca
Search for other works by this author on:
Eric Barnett
Départment de Génie Mécanique,
e-mail: eric.barnett.1@ulaval.ca
Université Laval
,Québec, QC G1V 0A6
, Canada
e-mail: eric.barnett.1@ulaval.ca
Clément Gosselin
Départment de Génie Mécanique,
e-mail: gosselin@gmc.ulaval.ca
Université Laval
,Québec, QC G1V 0A6
, Canada
e-mail: gosselin@gmc.ulaval.ca
1Corresponding author.
Contributed by the Dynamic Systems Division of ASME for publication in the JOURNAL OF DYNAMIC SYSTEMS, MEASUREMENT, AND CONTROL. Manuscript received September 18, 2013; final manuscript received February 5, 2015; published online March 23, 2015. Assoc. Editor: Yongchun Fang.
J. Dyn. Sys., Meas., Control. Jul 2015, 137(7): 071007 (12 pages)
Published Online: July 1, 2015
Article history
Received:
September 18, 2013
Revision Received:
February 5, 2015
Online:
March 23, 2015
Citation
Barnett, E., and Gosselin, C. (July 1, 2015). "Time-Optimal Trajectory Planning of Cable-Driven Parallel Mechanisms for Fully Specified Paths With G1-Discontinuities." ASME. J. Dyn. Sys., Meas., Control. July 2015; 137(7): 071007. https://doi.org/10.1115/1.4029769
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