Collision-free and dynamically feasible trajectory of a hybrid cable–serial robot with two passive links

• A path planning algorithm avoiding obstacles and taking into account dynamics is applied to a hybrid cable–serial manipulator in order to find the shortest and the fastest path.
• Cable tensions have to be bounded during the motion of the robot in order to ensure stability of the end-effector.
• Two cases were presented and the simulation results proved the effectiveness of our approach.

In this work, a dynamic path planning algorithm is applied to a hybrid cable–serial manipulator in order to find the shortest and the fastest path while ensuring bounded tensions in the actuators cables. The trajectory is given by a geometric planning method, originally proposed for serial manipulators and adapted to a hybrid cable–serial robot. The obtained trajectory ensures the shortest path between two poses of the robot while avoiding obstacles. The dynamic planning algorithm is then applied to the obtained trajectory, to ensure a maximum velocity and acceleration, while keeping the tensions in the different cables within an allowable interval.Some simulation results are presented in order to show the effectiveness of the proposed dynamic path planner.

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