Smooth Path Planner for Dynamic Simulators Based on Cable-Driven Parallel Robots

Alejandro R. Barroso; Roque Saltaren; Gerardo Portilla; Juan S. Cely; Marco Carpio

doi:10.1109/SST.2018.8564635

Smooth Path Planner for Dynamic Simulators Based on Cable-Driven Parallel Robots

Alejandro R. Barroso
, Roque Saltaren
, Gerardo Portilla
, Juan S. Cely
, Marco Carpio

Research Group in Interaction, Robotics and Automation (GIIRA)

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

8 Scopus citations

Abstract

A cable-driven parallel robot was designed to simulate underwater conditions in underwater humanoid robots. In real tests in marine environments or swimming pools, high deployment costs are required; visualization of the actual movement of the robot is reduced; all electronic components need to be sealed; slippery effects can appear; diving equipment needs to be in contact with the robot, and it is difficult to produce desired environment forces such as underwater currents. This research analyzed the capability of the cable-driven parallel robot to simulate dynamic forces such as those existing in underwater environments. The simulator had to follow the trajectories performed by the humanoid robot by providing smooth path planning to avoid any perturbation that the cables could produce. A polygonal path planning was developed in both robots analyzing the feasibility of the simulator to track the humanoid robot. A dynamic model was developed for ground and underwater environments to understand the maximum velocity and acceleration needed by the system.

Original language	English
Title of host publication	Proceedings of International Conference on Smart Systems and Technologies 2018, SST 2018
Editors	Irena Galic, Snjezana Rimac Drlje, Drago Zagar, Goran Martinovic
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	145-150
Number of pages	6
ISBN (Electronic)	9781538671894
DOIs	https://doi.org/10.1109/SST.2018.8564635
State	Published - 5 Dec 2018
Event	3rd International Conference on Smart Systems and Technologies, SST 2018 - Osijek, Croatia Duration: 10 Oct 2018 → 12 Oct 2018

Publication series

Name	Proceedings of International Conference on Smart Systems and Technologies 2018, SST 2018

Conference

Conference	3rd International Conference on Smart Systems and Technologies, SST 2018
Country/Territory	Croatia
City	Osijek
Period	10/10/18 → 12/10/18

Bibliographical note

Publisher Copyright:
© 2018 IEEE.

UN SDGs

This output contributes to the following UN Sustainable Development Goals (SDGs)

SDG 14 Life Below Water

Keywords

cable-driven mechanisms
kinematics
parallel platforms
path planning
robot design

CACES Knowledge Areas

417A Electronics, Automation and Sound

Access to Document

10.1109/SST.2018.8564635

Cite this

Barroso, A. R., Saltaren, R., Portilla, G., Cely, J. S., & Carpio, M. (2018). Smooth Path Planner for Dynamic Simulators Based on Cable-Driven Parallel Robots. In I. Galic, S. R. Drlje, D. Zagar, & G. Martinovic (Eds.), Proceedings of International Conference on Smart Systems and Technologies 2018, SST 2018 (pp. 145-150). Article 8564635 (Proceedings of International Conference on Smart Systems and Technologies 2018, SST 2018). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/SST.2018.8564635

Barroso, Alejandro R. ; Saltaren, Roque ; Portilla, Gerardo et al. / Smooth Path Planner for Dynamic Simulators Based on Cable-Driven Parallel Robots. Proceedings of International Conference on Smart Systems and Technologies 2018, SST 2018. editor / Irena Galic ; Snjezana Rimac Drlje ; Drago Zagar ; Goran Martinovic. Institute of Electrical and Electronics Engineers Inc., 2018. pp. 145-150 (Proceedings of International Conference on Smart Systems and Technologies 2018, SST 2018).

@inproceedings{daa03f1ed2884170a1a06854efc7e87e,

title = "Smooth Path Planner for Dynamic Simulators Based on Cable-Driven Parallel Robots",

abstract = "A cable-driven parallel robot was designed to simulate underwater conditions in underwater humanoid robots. In real tests in marine environments or swimming pools, high deployment costs are required; visualization of the actual movement of the robot is reduced; all electronic components need to be sealed; slippery effects can appear; diving equipment needs to be in contact with the robot, and it is difficult to produce desired environment forces such as underwater currents. This research analyzed the capability of the cable-driven parallel robot to simulate dynamic forces such as those existing in underwater environments. The simulator had to follow the trajectories performed by the humanoid robot by providing smooth path planning to avoid any perturbation that the cables could produce. A polygonal path planning was developed in both robots analyzing the feasibility of the simulator to track the humanoid robot. A dynamic model was developed for ground and underwater environments to understand the maximum velocity and acceleration needed by the system.",

keywords = "cable-driven mechanisms, kinematics, parallel platforms, path planning, robot design",

author = "Barroso, \{Alejandro R.\} and Roque Saltaren and Gerardo Portilla and Cely, \{Juan S.\} and Marco Carpio",

note = "Publisher Copyright: {\textcopyright} 2018 IEEE.; 3rd International Conference on Smart Systems and Technologies, SST 2018 ; Conference date: 10-10-2018 Through 12-10-2018",

year = "2018",

month = dec,

day = "5",

doi = "10.1109/SST.2018.8564635",

language = "English",

series = "Proceedings of International Conference on Smart Systems and Technologies 2018, SST 2018",

publisher = "Institute of Electrical and Electronics Engineers Inc.",

pages = "145--150",

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}

Barroso, AR, Saltaren, R, Portilla, G, Cely, JS & Carpio, M 2018, Smooth Path Planner for Dynamic Simulators Based on Cable-Driven Parallel Robots. in I Galic, SR Drlje, D Zagar & G Martinovic (eds), Proceedings of International Conference on Smart Systems and Technologies 2018, SST 2018., 8564635, Proceedings of International Conference on Smart Systems and Technologies 2018, SST 2018, Institute of Electrical and Electronics Engineers Inc., pp. 145-150, 3rd International Conference on Smart Systems and Technologies, SST 2018, Osijek, Croatia, 10/10/18. https://doi.org/10.1109/SST.2018.8564635

Smooth Path Planner for Dynamic Simulators Based on Cable-Driven Parallel Robots. / Barroso, Alejandro R.; Saltaren, Roque; Portilla, Gerardo et al.
Proceedings of International Conference on Smart Systems and Technologies 2018, SST 2018. ed. / Irena Galic; Snjezana Rimac Drlje; Drago Zagar; Goran Martinovic. Institute of Electrical and Electronics Engineers Inc., 2018. p. 145-150 8564635 (Proceedings of International Conference on Smart Systems and Technologies 2018, SST 2018).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

TY - GEN

T1 - Smooth Path Planner for Dynamic Simulators Based on Cable-Driven Parallel Robots

AU - Barroso, Alejandro R.

AU - Saltaren, Roque

AU - Portilla, Gerardo

AU - Cely, Juan S.

AU - Carpio, Marco

PY - 2018/12/5

Y1 - 2018/12/5

N2 - A cable-driven parallel robot was designed to simulate underwater conditions in underwater humanoid robots. In real tests in marine environments or swimming pools, high deployment costs are required; visualization of the actual movement of the robot is reduced; all electronic components need to be sealed; slippery effects can appear; diving equipment needs to be in contact with the robot, and it is difficult to produce desired environment forces such as underwater currents. This research analyzed the capability of the cable-driven parallel robot to simulate dynamic forces such as those existing in underwater environments. The simulator had to follow the trajectories performed by the humanoid robot by providing smooth path planning to avoid any perturbation that the cables could produce. A polygonal path planning was developed in both robots analyzing the feasibility of the simulator to track the humanoid robot. A dynamic model was developed for ground and underwater environments to understand the maximum velocity and acceleration needed by the system.

AB - A cable-driven parallel robot was designed to simulate underwater conditions in underwater humanoid robots. In real tests in marine environments or swimming pools, high deployment costs are required; visualization of the actual movement of the robot is reduced; all electronic components need to be sealed; slippery effects can appear; diving equipment needs to be in contact with the robot, and it is difficult to produce desired environment forces such as underwater currents. This research analyzed the capability of the cable-driven parallel robot to simulate dynamic forces such as those existing in underwater environments. The simulator had to follow the trajectories performed by the humanoid robot by providing smooth path planning to avoid any perturbation that the cables could produce. A polygonal path planning was developed in both robots analyzing the feasibility of the simulator to track the humanoid robot. A dynamic model was developed for ground and underwater environments to understand the maximum velocity and acceleration needed by the system.

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KW - kinematics

KW - parallel platforms

KW - path planning

KW - robot design

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EP - 150

BT - Proceedings of International Conference on Smart Systems and Technologies 2018, SST 2018

A2 - Galic, Irena

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PB - Institute of Electrical and Electronics Engineers Inc.

T2 - 3rd International Conference on Smart Systems and Technologies, SST 2018

Y2 - 10 October 2018 through 12 October 2018

ER -

Barroso AR, Saltaren R, Portilla G, Cely JS, Carpio M. Smooth Path Planner for Dynamic Simulators Based on Cable-Driven Parallel Robots. In Galic I, Drlje SR, Zagar D, Martinovic G, editors, Proceedings of International Conference on Smart Systems and Technologies 2018, SST 2018. Institute of Electrical and Electronics Engineers Inc. 2018. p. 145-150. 8564635. (Proceedings of International Conference on Smart Systems and Technologies 2018, SST 2018). doi: 10.1109/SST.2018.8564635

Smooth Path Planner for Dynamic Simulators Based on Cable-Driven Parallel Robots

Abstract

Publication series

Conference

Bibliographical note

UN SDGs

Keywords

CACES Knowledge Areas

Access to Document

Other files and links

Modeling, Design, and Construction of a Planar Cable-Driven Parallel Robot

Cite this

Smooth Path Planner for Dynamic Simulators Based on Cable-Driven Parallel Robots

Abstract

Publication series

Conference

Bibliographical note

UN SDGs

Keywords

CACES Knowledge Areas

Access to Document

Other files and links

Projects

Modeling, Design, and Construction of a Planar Cable-Driven Parallel Robot

Cite this