Optimization of Trajectories for Cable Robots on Automated Construction Sites

In contrast to conventional serial robot arms, a cable robot offers special characteristics which make it predestined for usage in automated construction: Cable robots use a robust and simple mechanical layout, including a frame, motordriven winches, pulleys and cables connected to the end effector in a parallel kinematic structure. Derived fromBIMdata, suitable trajectories need to be generated for every payload, e.g. as set values for the robot control. This paper focuses on the generation and optimization of such trajectories, considering several requirements and optimization criteria, using a hybrid particle swarm algorithm for global optimization. The optimization costs include transportation time, cable forces, collision avoidance, stiffness and movements of the pulleys. Some of these criteria are in conflict of aims, e.g. a short transportation time and low cable forces, which is resolved by weights in the cost function.