Document Type



Master of Science


Mechanical Engineering

First Adviser

Bhattacharya, Subhrajit


There is a rising demand for multiple-cable controlled robots in stadiums or warehouses due to its low cost, longer operation time, and higher safety standards. In a cluttered environment the cables can wrap around obstacles. Careful choice needs to be made for the initial cable congurations to ensure that the workspace of the robot is optimized. The presence of cables makes it imperative to consider the homotopy classes of the cables both in the design and motion planning problems. In this thesis we study the problem of workspace planning for multiple-cable controlled robots in an environment with polygonal obstacles. This goal of this thesis is to establish a relationship between the workspace's boundary and cable congurations of such robots, and solve related optimization and motion planning problems. We rst analyze the conditions under which a conguration of a cable-controlled robot can be considered valid, then discuss the relationship between cable conguration, the robot's workspace and its motion state, and finally use graph search based motion planning in h-augmented graph to perform workspace optimization and to compute optimal paths for the robot. We demonstrated corresponding algorithms in simulations.