Kinematic Stability based AFG-RRT Path Planning for Cable-Driven Parallel Robots
Utkarsh A. Mishra Marceau Métillon Stéphane Caro Utkarsh A. Mishra Marceau Métillon Stéphane Caro
Motion planning for Cable-Driven Parallel Robots (CDPRs) is a challenging task due to various restrictions on cable tensions, collisions and obstacle avoidance. The presented work aims at proposing an optimal path planning strategy in order to both maximize the wrench capability and the dexterity of the robot in a cluttered environment. First, an asymptoticallyoptimal path finding method based on ...