Lange, Friedrich und Albu-Schäffer, Alin (2016) Iterative Path-Accurate Trajectory Generation for Fast Sensor-Based Motion of Robot Arms. Advanced Robotics, 30 (21), Seiten 1380-1394. Taylor & Francis. doi: 10.1080/01691864.2016.1222307. ISSN 0169-1864.
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Offizielle URL: http://www.tandfonline.com/loi/tadr20
Kurzfassung
Sensor-based trajectory generation of industrial robots can be seen as the task of, first, adaptation of a given robot program according to the actually sensed world, and second, its modification that complies with robot constraints regarding its velocity, acceleration, and jerk. The second task is investigated in this paper. Whenever the sensed trajectory violates a constraint, a transient trajectory is computed that, both, keeps the sensed path, and reaches the sensed trajectory as fast as possible while satisfying the constraints. This is done by an iteration of forward scaling and backtracking. In contrast to previous papers a new backtracking algorithm and an adaptation of the prediction length are presented that are favorable for high-speed trajectories. Arc Length Interpolation is used in order to improve the path accuracy. This is completed by provisions against cutting short corners or omitting of loops in the given path. The refined trajectory is computed within a single sampling step of 4 ms using a standard KUKA industrial robot.
elib-URL des Eintrags: | https://elib.dlr.de/113129/ | ||||||||||||
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Dokumentart: | Zeitschriftenbeitrag | ||||||||||||
Zusätzliche Informationen: | Published online at Taylor & Francis Online (ISSN 1568-5535) since August 29, 2016 | ||||||||||||
Titel: | Iterative Path-Accurate Trajectory Generation for Fast Sensor-Based Motion of Robot Arms | ||||||||||||
Autoren: |
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Datum: | 29 August 2016 | ||||||||||||
Erschienen in: | Advanced Robotics | ||||||||||||
Referierte Publikation: | Ja | ||||||||||||
Open Access: | Ja | ||||||||||||
Gold Open Access: | Nein | ||||||||||||
In SCOPUS: | Ja | ||||||||||||
In ISI Web of Science: | Ja | ||||||||||||
Band: | 30 | ||||||||||||
DOI: | 10.1080/01691864.2016.1222307 | ||||||||||||
Seitenbereich: | Seiten 1380-1394 | ||||||||||||
Verlag: | Taylor & Francis | ||||||||||||
ISSN: | 0169-1864 | ||||||||||||
Status: | veröffentlicht | ||||||||||||
Stichwörter: | Trajectory Generation, Industrial Robots, Motion Generation, Path Accuracy | ||||||||||||
HGF - Forschungsbereich: | Luftfahrt, Raumfahrt und Verkehr | ||||||||||||
HGF - Programm: | Raumfahrt | ||||||||||||
HGF - Programmthema: | Technik für Raumfahrtsysteme | ||||||||||||
DLR - Schwerpunkt: | Raumfahrt | ||||||||||||
DLR - Forschungsgebiet: | R SY - Technik für Raumfahrtsysteme | ||||||||||||
DLR - Teilgebiet (Projekt, Vorhaben): | R - Vorhaben Intelligente Mobilität (alt) | ||||||||||||
Standort: | Oberpfaffenhofen | ||||||||||||
Institute & Einrichtungen: | Institut für Robotik und Mechatronik (ab 2013) | ||||||||||||
Hinterlegt von: | Lange, Dr.-Ing. Friedrich | ||||||||||||
Hinterlegt am: | 17 Jul 2017 17:18 | ||||||||||||
Letzte Änderung: | 03 Nov 2023 07:33 |
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