Ray-based Interference Free Workspace Analysis and Path Planning for Cable-Driven Robots

Zeqing Zhang

Ray-based Interference Free Workspace Analysis and Path Planning for Cable-Driven Robots

Robotics 2022-11-15 v1

Authors: Zeqing Zhang

Abstract

This thesis studies the interference-free workspace (IFW) of arbitrary cable-driven robots (CDRs) for both cables and obstacles using the ray-based method. Continuing from this, the point-to-point path planning and verification technique to ensure that the resulting motion is within the workspace is also studied.

Cite

@article{arxiv.2211.07612,
  title  = {Ray-based Interference Free Workspace Analysis and Path Planning for Cable-Driven Robots},
  author = {Zeqing Zhang},
  journal= {arXiv preprint arXiv:2211.07612},
  year   = {2022}
}

Comments

M.Phil. Thesis (CUHK, 2019)

Related papers

View all related →