检索结果-内蒙古大学图书馆

optimal sampling-based path planning for mobile cable-driven parallel robots in highly constrained environment

COMPLEX & INTELLIGENT SYSTEMS 2023年第6期9卷 6985-6998页

作者： Xu, Jiajun Kim, Byeong-Geon Lu, Yuzhen Park, Kyoung-Su Gachon Univ Dept Mech Engn 1342 Seongnamdaero Seongnam Si 461701 Gyeonggi Do South Korea Michigan State Univ Dept Biosyst & Agr Engn E Lansing MI 48824 USA

Mobile cable-driven parallel robots (MCDPRs) is a novel concept of cable-driven parallel robots (CDPRs) developed by mounting several mobile bases to discrete the conventional fixed frame. However, the additional mobile bases introduce more degree-of-freedom (DoF), thereby causing the kinematic redundancy. Moreover, mobile bases are susceptible to disturbances causing inconsistent performance. Hence, path planning of MCDPRs becomes a challenging issue due to various internal and external constraints involved. In this article, an optimization-based path planning method is proposed for MCDPRs in highly constrained environments with considering kinematic stability. The proposed approach quickly generates feasible paths for coupled mobile bases by using the developed multi-agent rapidly exploring random tree (MA-RRT). In this process, the tree can share information through the heuristics method to optimize the path, and the adaptive sampling strategy is thus proposed to increase the tree growth efficiency by self-adjusting sampling space. Moreover, the developed dynamic control checking method (DCC) is integrated with MA-RRT to smooth the path and the kinodynamic constraints of mobile bases can be satisfied. To generate the path of the end-effector, two performance metrics are designed considering the kinematic and stability of the MCDPR. based on the performance metrics, the grid-based search method is developed to generate the path for the end-effector. Finally, the convincing performance of the proposed method is revealed through the dynamic simulation software (CoppeliaSim) and real-world experiments based on a self-built MCDPR prototype.

关键词： Mobile cable-driven parallel robot Rapidly exploring random tree Stability and kinematic performance optimal sampling-based path planning

来源：评论

学校读者我要写书评

暂无评论

建议与咨询留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

时间限定

文献类型

馆藏选择

核心期刊

语言

文献类型

帮助

文字说明：

检索规则说明：

检索范例：

分类表

所选分类

限定检索结果

文献类型

馆藏范围

日期分布

学科分类号

主题

机构

作者

语言

请选择保存的检索档案：

请选择收藏分类：

通借通还

建议与咨询 留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

时间限定

文献类型

馆藏选择

核心期刊

语言

文献类型

帮助

文字说明：

检索规则说明：

检索范例：

分类表

所选分类

限定检索结果

文献类型

馆藏范围

日期分布

学科分类号

主题

机构

作者

语言

请选择保存的检索档案： 新增检索档案 确定 取消

请选择收藏分类： 新增自定义分类 确定 取消

通借通还

建议与咨询留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

请选择保存的检索档案：

请选择收藏分类：