Path Planing for SAMEN spacecam robot Based on Time-optimal Trajectory Planning and Constrains by PSO

The control of a space cam robot has been the primary objective of this study. A Samen robot is a type of a mobile space cam that is capable of moving from side to side similar to a spider. Samen Robot is a cable-driven parallel robot which is widely being used in stadium complexes for tracking some things such as footballers, In fact, at a certain height, the ball and the players are tracking on the football field. That is a path by considering the obstacles .This means finding the shortest or optimal path between the players (obstacles). The main topic in this article, finding the best and most optimal path must be tracked by Samen space cam. Kinematics and dynamic equations of this robot are presented. Then, in order to control of the robot, a PID controller method is proposed this controller requires the robot system states to be available. Therefore, the extended Kalman filter is employed to observe those states. Final after setting and controlling the path planning problem by considering the obstacle becomes a constrained optimization problem that must solve by PSO. Finally, with regard to these results, we can be assured in use constrained optimization method in Samen Planning.