Ray-based Interference Free Workspace Analysis and Path Planning for Cable-Driven Robots

TL;DR

This paper introduces a ray-based method for analyzing interference-free workspaces in cable-driven robots and develops a path planning technique to ensure safe, within-workspace robot motions.

Contribution

It presents a novel ray-based approach for workspace analysis and a path planning method tailored for cable-driven robots to avoid interference.

Findings

Effective workspace analysis for arbitrary CDRs.

Path planning ensures interference-free motion.

Method verified for various obstacle configurations.

Abstract

This thesis studies the interference-free workspace (IFW) of arbitrary cable-driven robots (CDRs) for both cables and obstacles using the ray-based method. Continuing from this, the point-to-point path planning and verification technique to ensure that the resulting motion is within the workspace is also studied.