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Interactive Null Space Control for Intuitively Interpretable Reconfiguration of Redundant Manipulators

Mansfeld, Nico and Beck, Fabian and Dietrich, Alexander and Haddadin, Sami (2017) Interactive Null Space Control for Intuitively Interpretable Reconfiguration of Redundant Manipulators. In: IEEE International Conference on Intelligent Robots and Systems. IEEE International Conference on Intelligent Robots and Systems, Vancouver, Kanada.

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Abstract

Kinematic redundancy is a characteristic and beneficial property in collaborative robots nowadays as it enhances the flexibility and dexterity of the system. While the robot is manipulating an object, it is often necessary to kinematically reconfigure the robot, for example, when it obstructs the human. For this, internal or so-called null space motions can be carried out which do not affect the main task. In general, it is desirable that the human coworker can anticipate how the robot will move at any time. However, for null space motions this is typically not the case as they are non-intuitive and not suitable for interaction. In this work, we develop intuitive null space interaction behaviors for redundant manipulators, where the human can easily guide the robot. We want to provide users with a tool, that is straightforward to implement and solves real-world problems effectively. Two practical applications for an eight- and ten-DOF robot demonstrate the performance of the proposed method.

Item URL in elib:https://elib.dlr.de/117953/
Document Type:Conference or Workshop Item (Speech)
Title:Interactive Null Space Control for Intuitively Interpretable Reconfiguration of Redundant Manipulators
Authors:
AuthorsInstitution or Email of AuthorsAuthors ORCID iD
Mansfeld, NicoNico.Mansfeld (at) dlr.deUNSPECIFIED
Beck, FabianFabian.Beck (at) dlr.deUNSPECIFIED
Dietrich, Alexanderalexander.dietrich (at) dlr.deUNSPECIFIED
Haddadin, Samisami.haddadin (at) irt.uni-hannover.deUNSPECIFIED
Date:2017
Journal or Publication Title:IEEE International Conference on Intelligent Robots and Systems
Refereed publication:Yes
Open Access:No
Gold Open Access:No
In SCOPUS:Yes
In ISI Web of Science:No
Status:Published
Keywords:Robot Teaching, Redundancy, Null Space
Event Title:IEEE International Conference on Intelligent Robots and Systems
Event Location:Vancouver, Kanada
Event Type:international Conference
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Space
HGF - Program Themes:Space Technology
DLR - Research area:Raumfahrt
DLR - Program:R SY - Technik für Raumfahrtsysteme
DLR - Research theme (Project):R - Vorhaben Terrestrische Assistenz-Robotik
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics (since 2013) > Analysis and Control of Advanced Robotic Systems
Deposited By: Mansfeld, Nico
Deposited On:11 Jan 2018 15:36
Last Modified:11 Jan 2018 15:36

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