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Determination and management of cable interferences between two 6-DOf foot platforms in a cable-driven locomotion interface

Otis Martin J.-D., Perreault Simon, Nguyen-Dang Thien-Ly, Lambert Patrice, Gouttefarde Marc, Laurendeau Denis et Gosselin Clément. (2009). Determination and management of cable interferences between two 6-DOf foot platforms in a cable-driven locomotion interface. IEEE transactions on systems, man and cybernetics. Part A. Systems and humans, 39, (3), p. 528-544.

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The intrinsic interaction of a robotic system that includes two 6-DOF cable-driven platforms sharing a common workspace might result in cable interferences for random trajectories. This paper presents and analyzes computational methods for geometrically determining and managing these interferences for any trajectory constrained with variable loads. The algorithms considered determine which cable can be released from an active actuation state whilst allowing control in a minimal tension state, thereby ensuring that both platforms stay in a controllable workspace. The process of managing cable interferences constitutes a challenge as one must take into account the inherent limitations of the workspace, which not only include the possibility of interference itself, but also the geometry of the Cable-Driven Locomotion Interface, its dynamics, the non-ideal behaviour of real cables, and the requirement that both platforms must be completely constrained at any time. As releasing a cable from an active actuation state might generate tension discontinuities in the other cables, this paper also proposes collision prediction schemes that are only applied to redundant actuators in order to reduce or completely eliminate such discontinuities. Finally, a simulation of a Cable-Driven Locomotion Interface (CDLI) embedded as a peripheral in a virtual environment, in which the load applied on each platform comes from the wrench measured under the foot for a natural gait walking, is thoroughly analyzed.

Type de document:Article publié dans une revue avec comité d'évaluation
Pages:p. 528-544
Version évaluée par les pairs:Oui
Sujets:Sciences naturelles et génie > Génie > Génie électrique et génie électronique
Sciences naturelles et génie > Génie > Génie informatique et génie logiciel
Département, module, service et unité de recherche:Départements et modules > Département des sciences appliquées > Module d'ingénierie
Mots-clés:Cable, wire, interference, parallel, robot, locomotion, interface, virtual, environment, câble, fil, interférence, parallèle, robot, locomotion, interface, virtuel, environnement
Déposé le:31 mai 2017 17:42
Dernière modification:31 mai 2017 17:42
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