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A Unifying Object-oriented Methodology to Consolidate Multibody Dynamics Computations in Robot Control

Höpler, R. (2005) A Unifying Object-oriented Methodology to Consolidate Multibody Dynamics Computations in Robot Control. In: Fortschritt-Berichte VDI 8, 1054. VDI Verlag. pp. 1-115. ISBN 3-18-505408-3.

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Abstract

Modern software-based robot control systems are built upon control schemes relying on descriptions of the robot's dynamical motion. This work develops a general purpose methodology to support the robot control design engineer in the whole modeling process. This comprises robot model specification, automatical generation or manual coding of executable multibody dynamics algorithms and integration of these operational robot models in an evolving robot control software architecture. A new object-oriented paradigm for the precise description of the mechanical robot components and the desired computations, a new extension of the mathematical framework of spatial operators for derivtion of dynamics algorithms and a dataflow-driven model of computation form the basis of a new object-oriented class hierarchy to consolidate all required model computations. Examples of real-world industrial and scientific control applications, e.g., path planning, calibration, and trajectory optimization, motivate the range of possible applications.

Document Type:Book Section
Additional Information: LIDO-Berichtsjahr=2005, thesis_type=thesis,
Title:A Unifying Object-oriented Methodology to Consolidate Multibody Dynamics Computations in Robot Control
Authors:
AuthorsInstitution or Email of Authors
Höpler, R.UNSPECIFIED
Date:2005
Journal or Publication Title:Fortschritt-Berichte VDI
Refereed publication:Yes
In ISI Web of Science:No
Volume:1054
Page Range:pp. 1-115
Publisher:VDI Verlag
Series Name:8
ISBN:3-18-505408-3
Status:Published
Keywords:Robot dynamics, symbolic recursive algorithms, operational robot models, object-oriented modeling, port-based spatial operator algebra, model-based robot control, elastic joints
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):UNSPECIFIED
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics
Deposited By: elib DLR-Beauftragter
Deposited On:16 Sep 2005
Last Modified:14 Jan 2010 18:41

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