Author : Deveshkumar Kanzariya 1
Date of Publication :22nd February 2018
Abstract: In this paper, obstacle avoidance algorithm for four cables is driven parallel robot is proposed considering the industrial environment where it can be used as pick and place operation. The four cables have been used to move the end effector in working space. The movement of the end effector is achieved by winding and unwinding the cables with help of Stepper motors in our case. Keeping positive tension in cables, Cable driven parallel robot moves straight in the direction of goal point or final destination until the obstacle detected in the path. Sensors are used to detect an obstacle in the path. With the help of algorithm, it avoids the obstacle and continues the straight line movement to gaol afterwards. The path of the end effector is considered for jerk-free smooth motion. The algorithm presented in this paper ensures collision free path for Cable driven parallel robot when path exists. This algorithm further can be extended for industrial cranes and quad copters.