Abstract
In this work, a dynamic path planning algorithm is applied to a hybrid cable–serial manipulator in order to find the shortest and the fastest path while ensuring bounded tensions in the actuators cables. The trajectory is given by a geometric planning method, originally proposed for serial manipulators and adapted to a hybrid cable–serial robot. The obtained trajectory ensures the shortest path between two poses of the robot while avoiding obstacles. The dynamic planning algorithm is then applied to the obtained trajectory, to ensure a maximum velocity and acceleration, while keeping the tensions in the different cables within an allowable interval.Some simulation results are presented in order to show the effectiveness of the proposed dynamic path planner.
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