Abstract
By a News Reporter-Staff News Editor at Robotics & Machine Learning Daily News Daily News – Investigators discuss new findings in robotics. According to news originating from Shahrood University of Technology b y NewsRx correspondents, research stated, “Trajectory planning in cable-driven r obots is more challenging than rigid-link ones.” Our news journalists obtained a quote from the research from Shahrood University of Technology: “To maintain the robot control, the cable tensions must be posit ive during motion. This paper presents a direct collocation approach to solve th e optimal trajectory planning based on the minimization of a robot’s tension and tension-rate objective functions. Besides, during robot motion, the cables must be tensile. The configuration of a cable parallel robot composed of a 3-cable a nd a prismatic actuator neutralizes the moving platform’s weight while improving tensionability. To generate smooth trajectories, the proposed method is compare d with two standard approaches: GPOPS-II software package which uses Legendre-Ga uss-Radu quadrature orthogonal collocation polynomials and direct collocation by using B-spline interpolation curves. Despite the efficiency of using B-spline f unctions in trajectory planning, numerical simulations demonstrate that the Herm ite-Simpson direct collocation approach has a substantial benefit in the computa tion cost and accuracy for trajectory planning of a cable-driven parallel robot. ”
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