On the ability of a cable-driven robot to generate a prescribed set of wrenches
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1 ON THE ABILITY OF A CABLE-DRIVEN ROBOT TO GENERATE A PRESCRIBED SET OF WRENCHES (DETC2008-49518) Samuel Bouchard, Clément Gosselin, Brian Moore [email protected] [email protected] [email protected] ASME IDETC-CIE August 6th 2008, New York City
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Transcript of On the ability of a cable-driven robot to generate a prescribed set of wrenches
1
ON THE ABILITY OF A CABLE-DRIVEN ROBOT TO GENERATE A PRESCRIBED
SET OF WRENCHES(DETC2008-49518)
Samuel Bouchard, Clément Gosselin, Brian [email protected]
[email protected]@ricam.oeaw.ac.at
ASME IDETC-CIEAugust 6th 2008, New York City
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Objective
Ability to generate a set of wrenches at the platform considering:
• Minimum and maximum tension
• n cables, d degrees of freedom, n>=d
• Suspended or fully constrained
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Different wrenches for different tasks
Skycam
Photo: jamd.com
Tokyo University Wire Haptic Interface
Photo: Prof. Takeda, Tokyo Institute of Technology
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General Concept
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Plan of the presentation
1. Nature of A.
2. Representations and method to define A.
3. Relationship between A and T.
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Nature of A
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Wrench equation
Solve
considering the constraint:
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Nature of A
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Zonotope, definition 1
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Zonotope, definition 2
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Zonotope, definition 3
A
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Examples
[Animations]
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A in the litterature
[Pham et al., 2005][Bosscher et al.,2004]
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How to obtain A?
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Representations
V-Representation H-Representation
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Algorithms
Method Representations Iterative?
Convex hull H or V Yes
Hyperplane shifting H No
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Convex Hull
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Convex Hull
where
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Hyperplane shifting
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Relation between A and T
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Set of inequalities
• T is a single wrench:
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Set of inequalities
• T is a single wrench:
• T is a set with many wrenches:
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Future work
• Improve hyperplane shifting method
• Optimal tension distribution
