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Höpler, R. (2005) A Unifying Object-oriented Methodology to Consolidate Multibody Dynamics Computations in Robot Control. In: Fortschritt-Berichte VDI 8, 1054. VDI Verlag. pp. 1-115. ISBN 3-18-505408-3.
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Abstract
Modern software-based robot control systems are built upon control schemes relying on descriptions of the robot's dynamical motion. This work develops a general purpose methodology to support the robot control design engineer in the whole modeling process. This comprises robot model specification, automatical generation or manual coding of executable multibody dynamics algorithms and integration of these operational robot models in an evolving robot control software architecture. A new object-oriented paradigm for the precise description of the mechanical robot components and the desired computations, a new extension of the mathematical framework of spatial operators for derivtion of dynamics algorithms and a dataflow-driven model of computation form the basis of a new object-oriented class hierarchy to consolidate all required model computations. Examples of real-world industrial and scientific control applications, e.g., path planning, calibration, and trajectory optimization, motivate the range of possible applications.
| Item URL in elib: | https://elib.dlr.de/12235/ | ||||||
|---|---|---|---|---|---|---|---|
| Document Type: | Book Section | ||||||
| Additional Information: | LIDO-Berichtsjahr=2005, thesis_type=thesis, | ||||||
| Title: | A Unifying Object-oriented Methodology to Consolidate Multibody Dynamics Computations in Robot Control | ||||||
| Authors: |
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| Date: | 2005 | ||||||
| Journal or Publication Title: | Fortschritt-Berichte VDI | ||||||
| Refereed publication: | Yes | ||||||
| Open Access: | No | ||||||
| Gold Open Access: | No | ||||||
| In SCOPUS: | No | ||||||
| In ISI Web of Science: | No | ||||||
| Volume: | 1054 | ||||||
| Page Range: | pp. 1-115 | ||||||
| Publisher: | VDI Verlag | ||||||
| Series Name: | 8 | ||||||
| ISBN: | 3-18-505408-3 | ||||||
| Status: | Published | ||||||
| Keywords: | Robot dynamics, symbolic recursive algorithms, operational robot models, object-oriented modeling, port-based spatial operator algebra, model-based robot control, elastic joints | ||||||
| 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): | UNSPECIFIED | ||||||
| Location: | Oberpfaffenhofen | ||||||
| Institutes and Institutions: | Institute of Robotics and Mechatronics (until 2012) | ||||||
| Deposited By: | DLR-Beauftragter, elib | ||||||
| Deposited On: | 16 Sep 2005 | ||||||
| Last Modified: | 14 Jan 2010 18:41 |
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