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The DLR Robot Motion Simulator Part II : Optimization based path-planning
Bellmann, Tobias and Otter, Martin and Hirzinger, Gerd (2011) The DLR Robot Motion Simulator Part II : Optimization based path-planning. IEEE International Conference on Robotics and Automation, Shanghai, China.
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Abstract
In Part I of the paper, a noval motion simulator platform is presented, the DLR Robot Motion Simulator with 7 degrees of freedom (DOF). In this Part II, a path-planning algorithm for mentioned platform will be discussed. By replacing the widely used hexapod kinematics by an antropomorhic, industial robot arm mounted on a standard linerar axis, a comparably larger workspace at lower hardware costs can be achieved. But the serial, redundant kinematics of the industrial robot system also introduces challenges for the path-planning as singularities in the workspace, varying movability of the system and the handling of robot system´s kinematical redundancy. By solving an optimization problem with constraints in every sampling step, a feasible trajectory can be generated, fulfilling the task of motion cueing, while respecthing the robot´s dynamic constraints.
| Document Type: | Conference or Workshop Item (Speech, Paper) | ||||||||
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| Title: | The DLR Robot Motion Simulator Part II : Optimization based path-planning | ||||||||
| Authors: |
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| Date: | 2011 | ||||||||
| Refereed publication: | Yes | ||||||||
| In ISI Web of Science: | No | ||||||||
| Status: | Published | ||||||||
| Keywords: | motion simulator, robot | ||||||||
| Event Title: | IEEE International Conference on Robotics and Automation | ||||||||
| Event Location: | Shanghai, China | ||||||||
| Event Type: | international Conference | ||||||||
| HGF - Research field: | Aeronautics, Space and Transport | ||||||||
| HGF - Program: | Aeronautics | ||||||||
| HGF - Program Themes: | L AR - Aircraft Research | ||||||||
| DLR - Research area: | Aeronautics | ||||||||
| DLR - Program: | L AR - Aircraft Research | ||||||||
| DLR - Research theme (Project): | L - Systems & Cabin | ||||||||
| Location: | Oberpfaffenhofen | ||||||||
| Institutes and Institutions: | Institute of Robotics and Mechatronics > System Dynamics and Control (former Control Design Engineering) | ||||||||
| Deposited By: | Monika Klauer | ||||||||
| Deposited On: | 26 Oct 2011 15:21 | ||||||||
| Last Modified: | 30 Jan 2012 11:41 |
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