High-Stiffness Path Planning for 7-DOF Cable-Driven Manipulators in Single and Dual-Arm Configurations
Shunxiang Pang, Fan Guo, Bin Zhang, Hai Huang, Xiaoyang Pan, Weiwei Shang
Abstract
Low stiffness in 7-DOF cable-driven humanoid manipulators limits their precision, posing a significant challenge in complex human-robot interaction (HRI) scenarios. This paper presents a motion planning framework to enhance manipulator stiffness for both single and dual-arm configurations. For a single arm, we introduce a novel method that integrates dynamic obstacle avoidance with posture optimization to maximize end-effector stiffness. For dual-arm systems, we develop a coupled stiffness model that addresses inter-arm dynamics to improve performance in coordinated tasks. Experimental results on prototypes confirm that the proposed methods significantly reduce end-effector deviation under load, thereby improving the precision and reliability of these manipulators in sophisticated collaborative applications.
BibTeX
@inproceedings{iros2025_highstiffnesspat,
title = {High-Stiffness Path Planning for 7-DOF Cable-Driven Manipulators in Single and Dual-Arm Configurations},
author = {Shunxiang Pang and Fan Guo and Bin Zhang and Hai Huang and Xiaoyang Pan and Weiwei Shang},
booktitle = {IROS 2025},
year = {2025}
}