论文标题
基于射线的干扰免费工作区分析和电缆驱动机器人的路径计划
Ray-based Interference Free Workspace Analysis and Path Planning for Cable-Driven Robots
论文作者
论文摘要
本文使用基于射线的方法研究了电缆和障碍物的任意电缆驱动机器人（CDRS）的无干扰工作区（IFW）。继续从中，点对点路径计划和验证技术，以确保还在工作空间内进行了运动。
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.
