An Analytic-Iterative Redundancy Resolution Scheme for Cable-Driven Redundant Parallel Manipulators

Hamid D. Taghirad, Yousef B. Bedoustani
2011 IEEE Transactions on robotics  
In this paper, redundancy resolution of a cabledriven parallel manipulator is solved by an analytic-iterative scheme. The method can be applied to all kind of redundant manipulators with some constraints due to their dynamics. However, in the simulation given in this paper the proposed method is implemented on a special cable-driven redundant parallel manipulator (CDRPM). The redundancy resolution problem is formulated as a convex optimization with equality and inequality constraints imposed by
more » ... manipulator structure and cables dynamics. Karush-Kuhn-Tucker theorem is used to analyze the optimization problem and to draw analytic solution for it. Subsequently, a tractable and iterative search algorithm is proposed to solve the redundancy resolution of such redundant manipulators. Furthermore, it is shown through the simulations that, the elapsed time required to implement the analytical redundancy resolution scheme in a closed-loop implementation is considerably less than that of other numerical optimization methods. Figure 1 . An artist"s concept of a complete 200-m diameter LAR installation. A
doi:10.1109/tro.2011.2163433 fatcat:e2qaibf4ezg3xooyjo6yb52xti