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Time-optimal trajectory planning in cable-based manipulators

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2 Author(s)
Behzadipour, S. ; Dept. of Mech. Eng., Alberta Univ., Edmonton, Alta., Canada ; Khajepour, A.

In this paper, the trajectory planning of high-speed cable-based parallel manipulators is studied for a given geometrical path. The time-optimal trajectory-planning technique is adapted for these manipulators in which cable forces must be maintained tensile. This condition is represented as a constraint on the acceleration of the end-effector along the path. The results of this technique are evaluated experimentally on DeltaBot, a cable-based manipulator developed at the University of Waterloo. The performance of the time-optimal technique is examined both for the moving time of the manipulator and the computational time of the trajectory generation.

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Robotics, IEEE Transactions on  (Volume:22 ,  Issue: 3 )