Trajectory Optimization for a Six-DOF Cable-Suspended Parallel Robot with Dynamic Motions Beyond the Static Workspace
Sheng Xiang,Haibo Gao,Zhen Liu,Clément Gosselin,Sheng Xiang,Haibo Gao,Zhen Liu,Clément Gosselin
This paper presents a trajectory optimization formulation for planning dynamic trajectories of a six-degree-of-freedom (six-DOF) cable-suspended parallel robot (CSPR) that extend beyond the static workspace. The optimization is guided by low-dimensional dynamic models to overcome the local minima and accelerate the exploration of the narrow feasible state space. The dynamic similarity between the ...
