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research-article

Dynamic Trajectory Planning for Failure Recovery in Cable-Suspended Camera Systems

[+] Author and Article Information
Chiara Passarini

Department of Management and Engineering, University of Padova, Vicenza 36100, Italy
chiara.passarini@phd.unipd.it

Damiano Zanotto

Department of Mechanical Engineering, Stevens Institute of Technology, Hoboken, New Jersey 07030
damiano.zanotto@stevens.edu

Giovanni Boschetti

Department of Management and Engineering, University of Padova, Vicenza 36100, Italy
giovanni.boschetti@unipd.it

1Corresponding author.

ASME doi:10.1115/1.4041942 History: Received March 30, 2018; Revised November 02, 2018

Abstract

The use of Cable Driven Parallel Robots (CDPR) in real-world applications makes safety a major concern for these devices and a relevant research topic. Cable-suspended camera systems are among the earliest and most common applications of CDPRs. In this paper, we propose a novel after-failure approach for cable-suspended camera systems. This strategy, which is applied after a cable breaks, seeks to drive the end-effector, i.e. the camera, towards a safe pose, following an oscillatory trajectory that guarantees positive and bounded tensions in the remaining cables. The safe landing location is optimized to minimize the trajectory time while avoiding collisions with the physical boundaries of the workspace. Results of numerical simulations indicate the feasibility of the proposed approach.

Copyright (c) 2018 by ASME
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