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

@article{Gosselin2014DynamicPT,
  title={Dynamic Point-to-Point Trajectory Planning of a Two-DOF Cable-Suspended Parallel Robot},
  author={Cl{\'e}ment Gosselin and Simon Foucault},
  journal={IEEE Transactions on Robotics},
  year={2014},
  volume={30},
  pages={728-736}
}
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 sequence, with a zero velocity at each of the target points. In the first technnique, polynomial trajectories are designed to connect the target… CONTINUE READING

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