One of the principal research areas of the robotics team at IRT is cable driven parallel robots. These robots, by virtue of fixed (grounded motors) have a large easily scalable workspace, while allowing high platform accelerations. Typical applications include logistic operations and large scale machining.
In this video, a prototype of a cable driven parallel robot is shown. I was responsible for the modeling and control of the system and supervised the controller implementation in a real-time software architecture.
In this video, we show how the solution to the cable tension distribution problem can be used to prevent toppling of a deployable cable-driven parallel robot. The robot in question will be used for logistic operations in the framework of the FASTKIT project.
This video presents a demonstration of the FASTKIT prototype. FASTKIT is a FP7 echord++ funded project. I was invloved in the project proposal and part of the initial project team. After I left IRT, I continue to supervise a PhD student (T. Rasheed) who worked on this project, mainly the modeling and control of CDPR.
Tahir's work considers the reduced workspace of the CDPR due to the toppling constraints.
Tahir built the MOPICK simulator which we plan to use for pick and place tasks in a factory setting. This video shows the first motions of this type of platform.
Associated Publications
Available Wrench Set for Planar Mobile Cable-Driven Parallel Robots , Proceedings of the 2018 IEEE-RAS 17th International Conference on Robotics and Automation (ICRA, acceptance rate 40%), May 21, 2018 - May 25, 2018, T. Rasheed, P. Long, D. Marquez-Gamez, and S. Caro
Optimal Kinematic Redundancy Planning for Planar Mobile Cable-Driven Parallel Robots.,
Proceedings of the ASME 2018 International Design Engineering Technical Conferences & Computers and Information in Engineering Conference (IDETC/CIE 2018),
August 2018, Montreal,, T. Rasheed, P. Long, D. Marquez-Gamez, and S. Caro pdf_link
Kinematic Modeling and Twist Feasibility of Mobile Cable-Driven Parallel Robots, Proceedings of the 16th International Symposium on Advances in Robot Kinematics (ARK), July 1, 2018 - July 5, 2018, T. Rasheed, P. Long, D. Marquez-Gamez, and S. Caro
Tension Distribution Algorithm for Planar Mobile Cable-Driven Parallel Robots, Proceedings of the Third International Conference on Cable-Driven Parallel Robots, Aug 2, 2017 - Aug 4, 2017, T. Rasheed, P. Long, D. Marquez-Gamez, and S. Caro Book Chapter