Dynamic Point-to-Point Trajectory Planning of a Two-DOF Cable-Suspended Parallel Robot

This paper presents two trajectory-planning approaches for the point-to-point motion of planar two-degree-of-freedom (dof) cable-suspended parallel mechanisms. The proposed techniques can be used to plan trajectories that extend beyond the static workspace of the mechanism. Trajectories are specified as a list of target points that must be reached in… CONTINUE READING