TY - GEN
T1 - Continuous Collision Detection for a Robotic Arm Mounted on a Cable-Driven Parallel Robot
AU - Bury, Diane
AU - Izard, Jean Baptiste
AU - Gouttefarde, Marc
AU - Lamiraux, Florent
N1 - Publisher Copyright:
© 2019 IEEE.
PY - 2019/11
Y1 - 2019/11
N2 - A continuous collision checking method for a cable-driven parallel robot with an embarked robotic arm is proposed in this paper. The method aims at validating paths by checking for collisions between any pair of robot bodies (mobile platform, cables, and arm links). For a pair of bodies, an upper bound on their relative velocity and a lower bound on the distance between the bodies are computed and used to validate a portion of the path. These computations are done repeatedly until a collision is found or the path is validated. The method is integrated within the Humanoid Path Planner (HPP) software, tested with the cable-driven parallel robot CoGiRo, and compared to a discretized validation method.
AB - A continuous collision checking method for a cable-driven parallel robot with an embarked robotic arm is proposed in this paper. The method aims at validating paths by checking for collisions between any pair of robot bodies (mobile platform, cables, and arm links). For a pair of bodies, an upper bound on their relative velocity and a lower bound on the distance between the bodies are computed and used to validate a portion of the path. These computations are done repeatedly until a collision is found or the path is validated. The method is integrated within the Humanoid Path Planner (HPP) software, tested with the cable-driven parallel robot CoGiRo, and compared to a discretized validation method.
UR - http://www.scopus.com/inward/record.url?scp=85081168054&partnerID=8YFLogxK
U2 - 10.1109/IROS40897.2019.8967836
DO - 10.1109/IROS40897.2019.8967836
M3 - Conference contribution
AN - SCOPUS:85081168054
T3 - IEEE International Conference on Intelligent Robots and Systems
SP - 8097
EP - 8102
BT - 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2019
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2019
Y2 - 3 November 2019 through 8 November 2019
ER -