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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)
Title:The DLR Robot Motion Simulator Part II : Optimization based path-planning
Authors:
AuthorsInstitution or Email of Authors
Bellmann, TobiasUNSPECIFIED
Otter, MartinUNSPECIFIED
Hirzinger, GerdUNSPECIFIED
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: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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