Dynamic in Path Planning of a Cable Driven Robot

Robot path planning problem is well studied in the literature, whereas the dynamics problem is not so addressed. Indeed, most of the path-planning algorithms are limited to formulate the problem as a geometrical problem. In high acceleration, robots undergo important inertia forces that the path planner has to take into account. The goal of this work is to design a trajectory planner able to take into account the high accelerations to which the cable robot is submitted. The dynamic problem can be formulated as to maintain cable tensions in a well-defined interval that is to say between 0 and 200N in our case. This means that restrictions must be made ​​on the maximum and minimum values of the accelerations and decelerations that limit the maximum speed to be reached by the robot. The planner is composed of three phases. The first consists of finding the path that leads the robot from the initial position to final position while avoiding obstacles, without addressing the dynamic problem. In the second phase the planner interpolates the trajectory as a Spline in order to guarantee the continuity and the derivability of the required velocities. The third phase will then treat the dynamic problem.