Collision free path-planning for cable-driven parallel robots

In this study, a path-planning method that has been developed for serial manipulators is adapted to cable-drivenrobots. The proposed method has two modes. The first one is active when the robot is far from an obstacle. In this mode, the robot moves toward the goal on a straight line. The second mode is active when the robot is near an obstacle. During this mode, the robot finds the best way to avoid the obstacle. Moreover, an algorithm is presented to detect the collision between the robot and the obstacle. A similar algorithm is also presented to avoid the collision of the cables with an obstacle. Some simulation results are shown, which are then validated experimentally using a built 4-cable-drivenparallel manipulator. Although the path obtained between the initial and final poses may not be the shortest possible one, it guarantees finding a path, when it exists, no matter how cluttered the environment is.