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dc.contributor.author박종현-
dc.date.accessioned2019-10-14T05:49:50Z-
dc.date.available2019-10-14T05:49:50Z-
dc.date.issued2019-07-
dc.identifier.citationINTELLIGENT SERVICE ROBOTICS, v. 12, NO 3, Page. 243-253en_US
dc.identifier.issn1861-2776-
dc.identifier.issn1861-2784-
dc.identifier.urihttps://link.springer.com/article/10.1007%2Fs11370-019-00278-7-
dc.identifier.urihttp://repository.hanyang.ac.kr/handle/20.500.11754/111038-
dc.description.abstractPath planning of cable-driven parallel robots (CDPRs) is a challenging task due to cables which may cause various collisions. In this paper, three steps are suggested to perform path finding of CDPRs in cluttered environments. First, a way to visualize the cable collision of CDPRs is suggested to consider actual workspace of CDPRs. Second, a path finding algorithm based on rapidly exploring random trees (RRT) is presented to find a path free of various collisions of CDPRs including cable collisions and wrench feasible workspace. While conventional RRT algorithms are mainly focused on mazy environments, the modified RRT algorithm proposed here directly connects a sampled node and the tree to find a path faster in a non-mazy, but cluttered environment. Goal-biased sampling algorithm is also modified and employed to decrease computational cost. To deal with complicated collision detection of cables in the RRT, Gilbert-Johnson-Keerthi algorithm was employed. Finally, post-processing algorithm for any waypoint-based path is suggested to get a shorter and less winding path. A numerical study was carried out to suggest choosing proper meta parameters for the post-processing algorithm. The suggested algorithms were evaluated with 1000 times of simulations, and they were equally carried out for RRT* to compare. According to the results, the suggested algorithm found a shorter path with less computation time compared to RRT* and the post-processing algorithms made the already found path shorter.en_US
dc.description.sponsorshipThis research was supported by Leading Foreign Research Institute Recruitment Program through the National Research Foundation of Korea (NRF) funded by the Ministry of Science, ICT and Future Planning (MSIP) (No. 2012K1A4A3026740).en_US
dc.language.isoenen_US
dc.publisherSPRINGER HEIDELBERGen_US
dc.subjectCable-driven parallel roboten_US
dc.subjectPath planningen_US
dc.subjectCable collisionen_US
dc.subjectRRTen_US
dc.titleCollision-free path planning of cable-driven parallel robots in cluttered environmentsen_US
dc.typeArticleen_US
dc.identifier.doi10.1007/s11370-019-00278-7-
dc.relation.page1-11-
dc.relation.journalINTELLIGENT SERVICE ROBOTICS-
dc.contributor.googleauthorBak, Jeong-Hyeon-
dc.contributor.googleauthorHwang, Sung Wook-
dc.contributor.googleauthorYoon, Jonghyun-
dc.contributor.googleauthorPark, Jong Hyeon-
dc.contributor.googleauthorPark, Jong-Oh-
dc.relation.code2019042804-
dc.sector.campusS-
dc.sector.daehakCOLLEGE OF ENGINEERING[S]-
dc.sector.departmentDIVISION OF MECHANICAL ENGINEERING-
dc.identifier.pidjongpark-
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COLLEGE OF ENGINEERING[S](공과대학) > MECHANICAL ENGINEERING(기계공학부) > Articles
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