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Pick-and-Place Trajectory Optimization for a Two-DOF Cable-Suspended Modular Parallel Robot

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Intelligent Robotics and Applications (ICIRA 2024)

Part of the book series: Lecture Notes in Computer Science ((LNAI,volume 15204))

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Abstract

This paper investigates the trajectory optimization of pick-and-place for a cable-suspended modular parallel robot (CSMPR). A two-degree-of-freedom cable-suspended parallel robot, which includes two parallel cable spool modules, was designed, and its kinematic modeling was conducted. To enable the CSMPR to perform pick-and-place tasks in an environment with obstacles smoothly, this paper proposes a minimum snap trajectory optimization method based on a seventh-order polynomial trajectory, considering time allocation and corridor constraints. By defining a geometric corridor and selecting trajectory points to pass through within the corridor, obstacles can be effectively avoided, and the trajectory can be made smoother. By allocating time effectively, the peak values of speed and acceleration can be reduced, making the motion more stable. Through dynamic simulation, it has been verified that the optimized trajectory can avoid obstacles. Additionally, the change in rope tension for the optimized trajectory is much minor compared to the trajectory without time allocation during pick-and-place tasks, and the motion of the moving platform is smoother.

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Acknowledgment

The work was supported by the Foundation for the National Natural Science Foundation of China (Grant No.52105024) and the Open Project of State Key Laboratory of Robotics and System (HIT) (Grant No. SKLRS-2023-KF-23).

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Authors and Affiliations

  1. School of Automation, Nanjing University of Information Science and Technology, Nanjing, 210044, Jiangsu, China

    Sheng Xiang, Weikun Bian, Wenlong Lu, Yinqi Zhang, Zhong Wei & Jia Liu

  2. State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin, 150001, China

    Sheng Xiang & Zhen Liu

Authors
  1. Sheng Xiang
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  2. Weikun Bian
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  3. Wenlong Lu
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  4. Yinqi Zhang
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  5. Zhong Wei
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  6. Jia Liu
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  7. Zhen Liu
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Corresponding author

Correspondence to Sheng Xiang .

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Editors and Affiliations

  1. Xi’an Jiaotong University, Xi’an, China

    Xuguang Lan

  2. Xi’an Jiaotong University, Xi’an, China

    Xuesong Mei

  3. Xi’an Jiaotong University, Xi’an, Baden-Württemberg, China

    Caigui Jiang

  4. Xi’an Jiaotong University, Xi’an, China

    Fei Zhao

  5. Xi'an Jiaotong University, Xi'an, China

    Zhiqiang Tian

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Xiang, S. et al. (2025). Pick-and-Place Trajectory Optimization for a Two-DOF Cable-Suspended Modular Parallel Robot. In: Lan, X., Mei, X., Jiang, C., Zhao, F., Tian, Z. (eds) Intelligent Robotics and Applications. ICIRA 2024. Lecture Notes in Computer Science(), vol 15204. Springer, Singapore. https://doi.org/10.1007/978-981-96-0798-3_26

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  • DOI: https://doi.org/10.1007/978-981-96-0798-3_26

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  • Publisher Name: Springer, Singapore

  • Print ISBN: 978-981-96-0797-6

  • Online ISBN: 978-981-96-0798-3

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