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Collision-avoidance trajectory planning for a virtual kinesthetic feedback system
Kun Wang,Clement Gosselin,Xuan Wu,Qiu-Ju Zhang,Ke Li,Yi Cao 대한기계학회 2016 JOURNAL OF MECHANICAL SCIENCE AND TECHNOLOGY Vol.30 No.7
This paper proposes the collision-avoidance trajectory design and simulation of a virtual kinesthetic feedback system. The system has two sliders driven in two tracks, respectively, and produces virtual masses when the user holds and moves the system. Trajectory planning considering both the ideal and constrained scenarios in applications is carried out. A collision-avoidance trajectory is designed based on the quintic polynomial, and the influence of the time interval and the switching point is discussed. Simulations were performed to verify the function of the system. The results show that without constraints, the system can produce prescribed virtual masses. The displacements of the slider are affected by the error between the prescribed virtual mass and the real mass of the system. With the constraints of the tracks' lengths, the produced virtual masses are altered from the prescribed. Adjusting the time interval and the switching point could optimize the performance of the system when the geometric parameters of the system are set.
Alexis Fortin Cote,Philippe Cardou,Clement Gosselin 제어로봇시스템학회 2016 제어로봇시스템학회 국제학술대회 논문집 Vol.2016 No.10
One of the main concerns in the control of over-constrained cable driven parallel mechanisms is the handling of the tension distribution, which is crucial to the proper mechanism behaviour. For example, it dictates the power consumption and stiffness of the mechanism. One problem that remains to be addressed is the handling of cable tensions when the end-effector moves beyond its wrench-feasible workspace, a situation that can arise when the robot is used as a haptic interface. Most existing algorithms are capable of determining whether a specified wrench is unfeasible, but cannot return a suitable second-best tension distribution in such situations. This paper presents an algorithm based on quadratic programming that is capable of handling these situations in real time. The algorithm provides the exact tension distribution for exerting the prescribed wrench when the end-effector is inside the robot workspace. Moreover, when the end-effector is outside of the robot workspace, the algorithm returns a tension distribution that approximately generates the prescribed wrench. The effectiveness of the algorithm is first illustrated using the simulation of a simple cable-driven parallel robot (CDPR). Experimental results are then provided for an eight-cable six-degree-of-freedom CDPR using a real-time implementation.