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Planification de tâches de manipulation pour robots parallèles à câbles

Diane Bury 1, 2
2 LAAS-GEPETTO - Équipe Mouvement des Systèmes Anthropomorphes
LAAS - Laboratoire d'analyse et d'architecture des systèmes
Abstract : Cable-driven parallel robots have large workspaces compared to standard manipulator robots. In return, the presence of cables creates additional possible collisions, as well as positivity constraints on the cables tensions. The software platform HPP was developed by the GEPETTO team from the LAAS laboratory for motion planning and manipulation planning for articulated systems in cluttered environment. This thesis extends the algorithms within HPP to cable-driven parallel robots. The present research work provides solutions to the continuous trajectory validation for cable-driven parallel robots. First, a continuous collision detection algorithm is extended to take into account all the collisions pairs which include cables. This algorithm is based on the computation of an upper bound on the relative velocity between two bodies in order to successively validate intervals of the trajectory. Secondly, this same continuous validation algorithm is extended to handle the validation of the cable tensions. Together, the continuous collision detection and the continuous tension validation form a global continuous validation method for cable-driven parallel robots. This method is used within probabilistic planning algorithm to plan manipulation movements for cable robots. Several scenarios representing industrial tasks are tested with the robot CoGiRo both in simulation as well as on the real robot.
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Contributor : Diane Bury <>
Submitted on : Thursday, March 18, 2021 - 3:50:45 PM
Last modification on : Thursday, June 10, 2021 - 3:02:19 AM


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  • HAL Id : tel-03173653, version 1


Diane Bury. Planification de tâches de manipulation pour robots parallèles à câbles. Robotique [cs.RO]. Institut National des Sciences Appliquées de Toulouse, 2020. Français. ⟨tel-03173653⟩



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