Collision-free Trajectory Planning for Cable-driven Robot in Dynamic Environment

This paper presents a collision-free trajectory planning algorithm for cable-driven robots (CDPRs) in dynamic environment. As the basis, the wrench feasible workspaces (WFW) of CDPRs are obtained. The tradition artificial potential field (APF) method can quickly plan a trajectory. However, APF is not time-efficient with dynamic obstacles. In order to solve this problem, a new scope of APF based on kinematic model is used to generate a trajectory in dynamic environment. Then, Bezier curve is employed to optimize the initial trajectory making motors run smoothly. To validate the proposed improved APF method, kinematic simulations are carried out. The results demonstrate the trajectory generated by improved APF can avoid obstacles in different motion states smoothly.