Generation of energy efficient trajectories for NIMS3D, a three-dimensional cabled robot

Borgstrom, Per Henrik; Borgstrom, N P; Stealey, Michael; Jordan, Brett; Sukhatme, Gaurav S.; Batalin, Maxim; Kaiser, William J.

doi:10.1109/robot.2008.4543544

Cited by 9 publications

(11 citation statements)

References 13 publications

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“…Cables are controlled usually by a positioning system (Borgstrom et al 2008) that actuates in motors for rolling and unrolling cables. These robots are capable of performing many manipulation tasks and they have several conveniences over typical robotic manipulators (German et al 2001): a smaller number of moving parts, a lower level of visual intrusion (Gouttefarde et al 2011), a larger working area and a higher payload ratio relative to the robot's weight.…”

Section: Related Workmentioning

confidence: 99%

“…Currently, there is a small number of cable-driven robotic systems available on the market of sports and entertainment (Borgstrom et al 2008), namely, the SkyCam 1 and the Cablecam. 2 However, a larger number of researching works can be found in the literature (Bosscher et al 2007;Oh and Agrawal 2006;Lahouar et al 2009) related to cable-driven robots.…”

Section: Related Workmentioning

confidence: 99%

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A cable-driven robot for architectural constructions: a visual-guided approach for motion control and path-planning

et al. 2016

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Cable-driven robots have received some attention by the scientific community and, recently, by the industry because they can transport hazardous materials with a high level of safeness which is often required by construction sites. In this context, this research presents an extension of a cable-driven robot called SPIDERobot, that was developed for automated construction of architectural projects. The proposed robot is formed by a rotating claw and a set of four cables, enabling four degrees of freedom. In addition, this paper proposes a new Vision-Guided Path-Planning System (V-GPP) that provides a visual interpretation of the scene: the position of the robot, the target and obstacles location; and optimizes the trajectory of the robot. Moreover, it determines a collision-free trajectory in 3D that takes into account the obstacles and the interaction of the cables with the scene. A set of experiments make possible to validate the contribution of V-GPP to the SPIDERobot while operating in realistic Faculty of Architecture, University of Porto, Porto, Portugal working conditions, as well as, to evaluate the interaction between the V-GPP and the motion controlling system. The results demonstrated that the proposed robot is able to construct architectural structures and to avoid collisions with obstacles in their working environment. The V-GPP system localizes the robot with a precision of 0.006 m, detects the targets and successfully generates a path that takes into account the displacement of cables. Therefore, the results demonstrate that the SPIDERobot can be scaled up to real working conditions.

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Section: Related Workmentioning

confidence: 99%

Section: Related Workmentioning

confidence: 99%

A cable-driven robot for architectural constructions: a visual-guided approach for motion control and path-planning

et al. 2016

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“…Cable-driven robots, also known as cable-array or cable suspended robots, control an end-effector using multiple actuated cables [1,20]. Cables are controlled usually by a positioning system that actuates in motors for rolling and unrolling cables.…”

Section: Related Workmentioning

confidence: 99%

“…On the other hand, cable interferences, inaccuracies at the end-effector due to cable stretch, and the limited force in the downward directions are some the disadvantages of cable-driven robot [20]. Currently, there is a small number of cable-driven robotic systems available on the market of sports and entertainment [1], namely, the SkyCam [18] and the Cablecam [2].…”

Section: Related Workmentioning

confidence: 99%

An Optimization Approach for the Inverse Kinematics of a Highly Redundant Robot

Lima

Pereira

Costa

et al. 2016

Proceedings of the Second International Afro-European Conference for Industrial Advancement AECIA 2015

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Abstract. This paper describes a robot with 12 degrees of freedom for pick-and-place operations using bricks. In addition, an optimization approach is proposed, which determines the state of each joint (that establishes the pose for the robot) based on the target position while minimizing the effort of the servomotors avoiding the inverse kinematics problem, which is a hard task for a 12 DOF robot manipulator. Therefore, it is a multi-objective optimization problem that will be solved using two optimization methods: the Stretched Simulated Annealing method and the NSGA II method. The experiments conducted in a simulation environment prove that the proposed approach is able to determine a solution for the inverse kinematics problem. A real robot formed by several servomotors and a gripper is also presented in this research for validating the solutions.

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“…al [12] proposed NIMS-3D, a new system in the NIMS family of tethered systems capable of actuation in a three dimensional environment. In [13], the work proposed in [12] is extended, and an algorithm for generating energy efficient trajectories for NIMS-3D is proposed. The algorithm generates energy-efficient non-linear trajectories for motion between given locations in an unobstructed workspace.…”

Section: Introductionmentioning

confidence: 99%

Energy based path planning for a novel cabled robotic system

Borgstrom

Singh

Jordan

et al. 2008

2008 IEEE/RSJ International Conference on Intelligent Robots and Systems

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Abstract-Cabled robotic systems have been used for a diverse set of applications such as environmental sensing, search and rescue, sports and entertainment and air vehicle simulators. In this paper, we introduce a new cabled robot-Networked Info Mechanical System for Planar actuation (NIMS-PL), with energy profiling capabilities. Accurate energy measurements supported by NIMS-PL enable path planning that optimizes the robot's path subject to an upper bound on energy consumption. We performed extensive empirical validation of the optimized path planning approach in simulation using an environmental sensing application as an example. We also validated the simulation results using NIMS-PL, demonstrating significant improvements in the sensing task when accounting with accurate energy measurements as opposed to Euclidean distance, which is typically used for modeling energy spent in path traversal.

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Generation of energy efficient trajectories for NIMS3D, a three-dimensional cabled robot

Cited by 9 publications

References 13 publications

A cable-driven robot for architectural constructions: a visual-guided approach for motion control and path-planning

A cable-driven robot for architectural constructions: a visual-guided approach for motion control and path-planning

An Optimization Approach for the Inverse Kinematics of a Highly Redundant Robot

Energy based path planning for a novel cabled robotic system

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