Interference detection for cable-driven parallel robots (CDPRs)

Laurent Blanchet (1) , Jean-Pierre Merlet (1)

1 HEPHAISTOS - HExapode, PHysiologie, AssISTance et Objets de Service

The main advantage of CDPRs is large workspaces. However, multiple legs and large workspace are both factors for interference. We consider a CDPR platform within a 6D workspace, and as sources of interference the collisions with the robot's environment and self interference. We present two algorithms and their interval analysis-based applications to handle the different types of interference. Finally, the efficiencies of the algorithms are presented.

Mots clés: Index Terms— Modeling and Design; Cable-Driven Parallel Robots; leg interference; collision; robotics; Interval Analysis

Domaines: Robotique [cs.RO]; Géométrie algorithmique [cs.CG]; Modélisation et simulation; Mathématiques [math]; Analyse numérique [math.NA]

Laurent Blanchet, Jean-Pierre Merlet. Interference detection for cable-driven parallel robots (CDPRs). Advanced Intelligent Mechatronics (AIM), 2014 IEEE/ASME International Conference, Jul 2014, Besancon, France. pp.1413 - 1418, ⟨10.1109/AIM.2014.6878280⟩. ⟨hal-01095093⟩