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A Versatile C++ Toolbox for Model Based, Real Time Control Systems of Robotic Manipulators

Höpler, Robert and Otter, Martin (2001) A Versatile C++ Toolbox for Model Based, Real Time Control Systems of Robotic Manipulators. In: Proc. of 2001 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 2208-2214. 2001 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2001-10-29 - 2001-11-03, Maui, USA. ISBN 0-7803-6614-X.

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Abstract

Model based technologies form the core of advanced robotic applications such as model predictive control and feedback linearization. More sophisticated models result in higher quality but the use in embedded real-time control systems imposes strict requirements on timing, memory allocation, and robustness. To satisfy these constraints, the model implementation is often optimized by manual coding, an unwieldy and error prone process. This paper presents an approach that exploits code synthesis from high level intuitive and convenient multi-body system (MBS) model descriptions. It relies on an object-oriented C++ library of MBS components tailored to the computations required in robot control such as forward and inverse kinematics, inverse dynamics, and Jacobians. Efficient model evaluation algorithms are developed that apply to multi-body tree structures as well as kinematic loops that are solved analytically for a certain class of loop structures.

Document Type:Conference or Workshop Item (Paper)
Additional Information:LIDO-Berichtsjahr=2001,
Title:A Versatile C++ Toolbox for Model Based, Real Time Control Systems of Robotic Manipulators
Authors:
AuthorsInstitution or Email of Authors
Höpler, RobertUNSPECIFIED
Otter, MartinUNSPECIFIED
Date:November 2001
Journal or Publication Title:Proc. of 2001 IEEE/RSJ International Conference on Intelligent Robots and Systems
Page Range:pp. 2208-2214
Editors:
EditorsEmail
IEEE, UNSPECIFIED
ISBN:0-7803-6614-X
Status:Published
Keywords:object-oriented modeling, kinematics, dynamics
Event Title:2001 IEEE/RSJ International Conference on Intelligent Robots and Systems
Event Location:Maui, USA
Event Type:international Conference
Event Dates:2001-10-29 - 2001-11-03
Organizer:IROS 2001
HGF - Research field:Aeronautics, Space and Transport (old)
HGF - Program:Space (old)
HGF - Program Themes:W SY - Technik für Raumfahrtsysteme
DLR - Research area:Space
DLR - Program:W SY - Technik für Raumfahrtsysteme
DLR - Research theme (Project):W - Weiterentwicklung Robotik - Mechatronik und Dynamik (old)
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics
Deposited By: elib DLR-Beauftragter
Deposited On:09 Mar 2006
Last Modified:12 Dec 2013 20:02

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