Formulation and Optimal Trajectory Planning in Controllable Workspace of Cable Suspended Robots
In this thesis, a method for online time-optimal trajectory planning in controllable workspace of cable suspended robots is proposed. First, kinematics and dynamics formulation of cable suspended robots specifically three cable robot and RoboCrane are derived. After- wards, by defining the online trajectory planning problem and investigating its challenges, a procedure to overcome the challenges is presented. In this procedure, the direction of the acceleration vector of platform is in direction of the unit vector resulted from the vector difference of desired and instantaneous velocities and its magnitude is calculated with respect to cable forces limitation and dynamic formulation. Furthermore, an auxiliary function is used to spot actuator speed limitation. To prove time optimality of the method, Pontryagin’s minimum principle is applied. Simulations certify the success of the considered method in online trajectory generation of cable suspended robots.
|2015||M.Sc.||Parallel and Cable Robotics|