{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,7,9]],"date-time":"2026-07-09T12:09:31Z","timestamp":1783598971525,"version":"3.55.0"},"reference-count":63,"publisher":"Cambridge University Press (CUP)","issue":"12","license":[{"start":{"date-parts":[[2022,9,1]],"date-time":"2022-09-01T00:00:00Z","timestamp":1661990400000},"content-version":"unspecified","delay-in-days":0,"URL":"http:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Robotica"],"published-print":{"date-parts":[[2022,12]]},"abstract":"<jats:title>Abstract<\/jats:title><jats:p>Productivity can be increased by manipulators tracking the desired trajectory with some constraints. Humans as moving obstacles in a shared workspace are one of the most challenging problems for cable-driven parallel mechanisms (CDPMs) that are considered in this research. One of the essential primary issues in CDPM is collision avoidance among cables and humans in the shared workspace. This paper presents a model and simulation of a reconfigurable, fully constrained CDPM enabling detection and avoidance of cable\u2013human collision. In this method, unlike conventional CDPMs where the attachment points are fixed, the attachment points on the rails can be moved (up and down on their rails), and then the geometric configuration is adapted. Karush\u2013Kuhn\u2013Tucker method is proposed, which focuses on estimating the shortest distance among moving obstacles (human limbs) and all cables. When cable and limbs are close to colliding, the new idea of reconfiguration is presented by moving the cable\u2019s attachment point on the rail to increase the distance between the cables and human limbs while they are both moving. Also, the trajectory of the end effector remains unchanged. Some simulation results of reconfiguration theory as a new approach are shown for the eight-cable-driven parallel manipulator, including the workspace boundary variation. The proposed method could find a collision-free predefined path, according to the simulation results.<\/jats:p>","DOI":"10.1017\/s0263574722000996","type":"journal-article","created":{"date-parts":[[2022,9,1]],"date-time":"2022-09-01T07:04:16Z","timestamp":1662015856000},"page":"4405-4430","source":"Crossref","is-referenced-by-count":21,"title":["Reconfigurable fully constrained cable-driven parallel mechanism for avoiding collision between cables with human"],"prefix":"10.1017","volume":"40","author":[{"ORCID":"https:\/\/orcid.org\/0000-0003-2466-9940","authenticated-orcid":false,"given":"Elham","family":"Khoshbin","sequence":"first","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Khaled","family":"Youssef","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Ramy","family":"Meziane","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Martin J.-D.","family":"Otis","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"56","published-online":{"date-parts":[[2022,9,1]]},"reference":[{"key":"S0263574722000996_ref58","first-page":"1","article-title":"Performance and power analysis for high performance computation benchmarks","volume":"3","author":"Issa","year":"2013","journal-title":"Central Eur. J. Comput. Sci"},{"key":"S0263574722000996_ref38","doi-asserted-by":"publisher","DOI":"10.1109\/ICARM.2018.8610680"},{"key":"S0263574722000996_ref10","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2006.878967"},{"key":"S0263574722000996_ref40","doi-asserted-by":"publisher","DOI":"10.1177\/0278364908095884"},{"key":"S0263574722000996_ref18","first-page":"235","article-title":"Study on multiple degree-of-freedom positioning mechanism using wires (part 2)-development of a planar completely restrained positioning mechanism","volume":"28","author":"Ming","year":"1994","journal-title":"Int. J. JSPE"},{"key":"S0263574722000996_ref12","doi-asserted-by":"publisher","DOI":"10.1016\/j.mechmachtheory.2005.04.003"},{"key":"S0263574722000996_ref2","doi-asserted-by":"publisher","DOI":"10.1016\/j.procs.2019.09.104"},{"key":"S0263574722000996_ref17","doi-asserted-by":"crossref","unstructured":"[17] Weber, X. , Cuvillon, L. and Gangloff, J. , \u201cActive Vibration Canceling of A Cable-Driven Parallel Robot in Modal Space,\u201d In: IEEE International Conference on Robotics and Automation (ICRA) (IEEE, 2015).","DOI":"10.1109\/ICRA.2015.7139402"},{"key":"S0263574722000996_ref41","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2008.4650670"},{"key":"S0263574722000996_ref62","doi-asserted-by":"crossref","unstructured":"[62] Kraus, W. , Schmidt, V. , Rajendra, P. and Pott, A. , \u201cSystem Identification and Cable Force Control for A Cable-Driven Parallel Robot with Industrial Servo Drives,\u201d In: 2014 IEEE International Conference on Robotics and Automation (ICRA) (IEEE, 2014).","DOI":"10.1109\/ICRA.2014.6907731"},{"key":"S0263574722000996_ref25","first-page":"85","volume-title":"Mechatronics for Cultural Heritage and Civil Engineering","author":"Gagliardini"},{"key":"S0263574722000996_ref30","unstructured":"[30] Merlet, J.-P. and Daney, D. , \u201cLegs Interference Checking of Parallel Robots Over A Given Workspace or Trajectory,\u201d In: Proceedings 2006 IEEE International Conference on Robotics and Automation, ICRA 2006 ( IEEE, 2006)."},{"key":"S0263574722000996_ref20","first-page":"197","volume-title":"Latest Advances in Robot Kinematics","author":"Pott"},{"key":"S0263574722000996_ref34","doi-asserted-by":"publisher","DOI":"10.1177\/0278364915594679"},{"key":"S0263574722000996_ref11","doi-asserted-by":"publisher","DOI":"10.1016\/j.mechmachtheory.2011.04.006"},{"key":"S0263574722000996_ref54","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2011.2163433"},{"key":"S0263574722000996_ref24","doi-asserted-by":"crossref","first-page":"1083","DOI":"10.1016\/j.robot.2009.07.006","article-title":"Collision free path-planning for cable-driven parallel robots","volume":"57","author":"Lahouar","year":"2009","journal-title":"Robot. Auton. Syst."},{"key":"S0263574722000996_ref15","doi-asserted-by":"publisher","DOI":"10.1109\/ROBOT.2009.5152576"},{"key":"S0263574722000996_ref42","doi-asserted-by":"publisher","DOI":"10.1007\/s10514-016-9609-6"},{"key":"S0263574722000996_ref50","doi-asserted-by":"publisher","DOI":"10.1177\/0278364909343970"},{"key":"S0263574722000996_ref14","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2006.870659"},{"key":"S0263574722000996_ref22","first-page":"29","volume-title":"Cable-Driven Parallel Robots","author":"Nguyen"},{"key":"S0263574722000996_ref46","doi-asserted-by":"publisher","DOI":"10.1016\/j.mechmachtheory.2018.10.002"},{"key":"S0263574722000996_ref19","doi-asserted-by":"publisher","DOI":"10.1002\/(SICI)1097-4563(199810)15:10<581::AID-ROB4>3.0.CO;2-P"},{"key":"S0263574722000996_ref28","doi-asserted-by":"publisher","DOI":"10.1017\/S0263574716000497"},{"key":"S0263574722000996_ref43","doi-asserted-by":"publisher","DOI":"10.1109\/ACIRS.2016.7556182"},{"key":"S0263574722000996_ref36","doi-asserted-by":"publisher","DOI":"10.1007\/s10514-011-9270-z"},{"key":"S0263574722000996_ref55","first-page":"309","volume-title":"Advances in Robot Kinematics: Motion in Man and Machine","author":"Carricato"},{"key":"S0263574722000996_ref52","first-page":"105","volume-title":"Numerical Analysis","author":"Mor\u00e9"},{"key":"S0263574722000996_ref45","doi-asserted-by":"publisher","DOI":"10.1109\/TSMCA.2009.2013188"},{"key":"S0263574722000996_ref63","first-page":"3","volume-title":"10218-2: 2011: Robots and Robotic devices-Safety Requirements for Industrial Robots-Part 2: Robot Systems and Integration","year":"2011"},{"key":"S0263574722000996_ref33","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2017.2705034"},{"key":"S0263574722000996_ref6","doi-asserted-by":"publisher","DOI":"10.1017\/S0263574799002477"},{"key":"S0263574722000996_ref56","doi-asserted-by":"crossref","unstructured":"[56] Khoshbin, E. , Youssef, K. , Meziane, R. and Otis, M. J.-D , Reconfigurable fully constrained cable driven parallel mechanism for avoiding collision between cables with human, supplementary material, Video 1, Experiment 1: One human in the workspace (May 2022).","DOI":"10.1017\/S0263574722000996"},{"key":"S0263574722000996_ref23","doi-asserted-by":"publisher","DOI":"10.1145\/3029610.3029620"},{"key":"S0263574722000996_ref8","doi-asserted-by":"publisher","DOI":"10.1016\/j.mechatronics.2013.12.001"},{"key":"S0263574722000996_ref5","first-page":"16","article-title":"Cable tension control and analysis of reel transparency for 6-dof haptic foot platform on a cable-driven locomotion interface","volume":"3","author":"Otis","year":"2009","journal-title":"Int. J. Electr. Electron. Eng"},{"key":"S0263574722000996_ref3","doi-asserted-by":"publisher","DOI":"10.1016\/j.rcim.2017.04.010"},{"key":"S0263574722000996_ref9","doi-asserted-by":"crossref","unstructured":"[9] Gouttefarde, M. , \u201cCharacterizations of Fully Constrained Poses of Parallel Cable-Driven Robots: A Review,\u201d In: International Design Engineering Technical Conferences and Computers and Information in Engineering Conference (2008).","DOI":"10.1115\/DETC2008-49467"},{"key":"S0263574722000996_ref4","doi-asserted-by":"publisher","DOI":"10.6028\/jres.097.016"},{"key":"S0263574722000996_ref7","doi-asserted-by":"publisher","DOI":"10.1016\/j.mechmachtheory.2017.12.023"},{"key":"S0263574722000996_ref13","first-page":"149","volume-title":"ROMANSY 18 Robot Design, Dynamics and Control","author":"Ottaviano"},{"key":"S0263574722000996_ref44","doi-asserted-by":"publisher","DOI":"10.1109\/AIM.2014.6878280"},{"key":"S0263574722000996_ref53","doi-asserted-by":"publisher","DOI":"10.1109\/ROBOT.2009.5152182"},{"key":"S0263574722000996_ref48","doi-asserted-by":"publisher","DOI":"10.1115\/1.4035988"},{"key":"S0263574722000996_ref32","doi-asserted-by":"publisher","DOI":"10.1023\/A:1020564024509"},{"key":"S0263574722000996_ref57","doi-asserted-by":"crossref","unstructured":"[57] Khoshbin, E. , Youssef, K. , Meziane, R. and Otis, M. J.-D , Reconfigurable fully constrained cable driven parallel mechanism for avoiding collision between cables with human, supplementary material, Video 2, Experiment 2: Two humans in the workspace (May 2022).","DOI":"10.1017\/S0263574722000996"},{"key":"S0263574722000996_ref61","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2019.2893611"},{"key":"S0263574722000996_ref16","doi-asserted-by":"publisher","DOI":"10.1016\/j.mechmachtheory.2020.104102"},{"key":"S0263574722000996_ref49","doi-asserted-by":"crossref","first-page":"1","DOI":"10.1016\/j.rcim.2017.02.001","article-title":"Trajectory planning of a suspended cable driven parallel robot with reconfigurable end effector","volume":"48","author":"Barbazza","year":"2017","journal-title":"Robot. Comput.-Integr. Manuf."},{"key":"S0263574722000996_ref51","doi-asserted-by":"publisher","DOI":"10.1155\/2014\/358727"},{"key":"S0263574722000996_ref1","doi-asserted-by":"publisher","DOI":"10.1016\/j.jmsy.2021.10.006"},{"key":"S0263574722000996_ref27","doi-asserted-by":"publisher","DOI":"10.1007\/s00542-020-05100-4"},{"key":"S0263574722000996_ref31","doi-asserted-by":"publisher","DOI":"10.3182\/20110828-6-IT-1002.03567"},{"key":"S0263574722000996_ref35","doi-asserted-by":"publisher","DOI":"10.1007\/s10846-012-9754-x"},{"key":"S0263574722000996_ref37","doi-asserted-by":"publisher","DOI":"10.1007\/s11370-019-00278-7"},{"key":"S0263574722000996_ref21","first-page":"353","volume-title":"New Trends in Mechanism Science","author":"Miermeister"},{"key":"S0263574722000996_ref26","doi-asserted-by":"publisher","DOI":"10.1007\/978-3-030-75789-2_15"},{"key":"S0263574722000996_ref60","unstructured":"[60] Youssef, K. M. , Reconfigurable cable driven parallel mechanism (Universit\u00e9 du Qu\u00e9bec \u00e0 Chicoutimi, 2020)."},{"key":"S0263574722000996_ref59","unstructured":"[59] Qian, H. , Counting the floating point operations (FLOPS) (https:\/\/www.mathworks.com\/matlabcentral\/fileexchange\/50608-counting-the-floating-point-operations-flops), MATLAB central file exchange. Retrieved May 8, 2022."},{"key":"S0263574722000996_ref39","first-page":"195","volume-title":"Cable-Driven Parallel Robots","author":"Bordalba"},{"key":"S0263574722000996_ref29","doi-asserted-by":"publisher","DOI":"10.1016\/j.mechmachtheory.2020.103781"},{"key":"S0263574722000996_ref47","doi-asserted-by":"crossref","first-page":"021011","DOI":"10.1115\/1.4049440","article-title":"Planar variable structure cable-driven parallel robots for circumventing obstacles","volume":"13","author":"Rushton","year":"2021","journal-title":"J. Mech. Robot"}],"container-title":["Robotica"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/www.cambridge.org\/core\/services\/aop-cambridge-core\/content\/view\/S0263574722000996","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2023,2,17]],"date-time":"2023-02-17T18:50:51Z","timestamp":1676659851000},"score":1,"resource":{"primary":{"URL":"https:\/\/www.cambridge.org\/core\/product\/identifier\/S0263574722000996\/type\/journal_article"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2022,9,1]]},"references-count":63,"journal-issue":{"issue":"12","published-print":{"date-parts":[[2022,12]]}},"alternative-id":["S0263574722000996"],"URL":"https:\/\/doi.org\/10.1017\/s0263574722000996","relation":{},"ISSN":["0263-5747","1469-8668"],"issn-type":[{"value":"0263-5747","type":"print"},{"value":"1469-8668","type":"electronic"}],"subject":[],"published":{"date-parts":[[2022,9,1]]}}}