elib
DLR-Header
DLR-Logo -> http://www.dlr.de
DLR Portal Home | Imprint | Contact | Deutsch
Fontsize: [-] Text [+]

Kinematically Optimal Catching a Flying Ball with a Hand-Arm-System

Bäuml, Berthold and Wimböck, Thomas and Hirzinger, Gerd (2010) Kinematically Optimal Catching a Flying Ball with a Hand-Arm-System.

[img]
Preview
PDF - Requires a PDF viewer such as GSview, Xpdf or Adobe Acrobat Reader
1MB

Abstract

A robotic ball-catching system built from a multi- purpose 7-DOF lightweight arm (DLR-LWR-III) and a 12 DOF four-fingered hand (DLR-Hand-II) is presented. Other than in previous work a mechatronically complex dexterous hand is used for grasping the ball and the decision of where, when and how to catch the ball, while obeying joint, speed and work cell limits, is formulated as an unified nonlinear optimization problem with nonlinear constraints. Three different objective functions are implemented, leading to significantly different robot movements. The high computational demands of an online realtime optimization are met by parallel computation on distributed computing resources (a cluster with 32 CPU cores). The system achieves a catch rate of > 80% and is regularly shown as a live demo at our institute.

Document Type:Proceedings
Title:Kinematically Optimal Catching a Flying Ball with a Hand-Arm-System
Authors:
AuthorsInstitution or Email of Authors
Bäuml, Bertholdberthold.baeuml@dlr.de
Wimböck, ThomasUNSPECIFIED
Hirzinger, GerdUNSPECIFIED
Date:2010
Status:Published
Keywords:planning
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 - Telerobotik und Autonomie (old)
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics
Deposited By: Berthold Bäuml
Deposited On:16 Dec 2010 15:25
Last Modified:12 Dec 2013 21:08

Repository Staff Only: item control page

Browse
Search
Help & Contact
Informationen
electronic library is running on EPrints 3.3.12
Copyright © 2008-2012 German Aerospace Center (DLR). All rights reserved.