Ray-based Interference Free Workspace Analysis and Path Planning for Cable-Driven Robots
arXiv:2211.07612
Abstract
This thesis studies the interference-free workspace (IFW) of arbitrary cable-driven robots (CDRs) for both cables and obstacles using the ray-based method. Continuing from this, the point-to-point path planning and verification technique to ensure that the resulting motion is within the workspace is also studied.
M.Phil. Thesis (CUHK, 2019)