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Maximizing Task-Oriented Manipulability of Redundant Robots

Sauer, Frederic (2020) Maximizing Task-Oriented Manipulability of Redundant Robots. DLR-Interner Bericht. DLR-IB-RM-OP-2020-63. Master's. Technical University of Munich (TUM).

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Approaching human-level performance in robotics allows to perform task of increasing complexity. This is used in assistive and rehabilitation robotics to facilitate the daily life of physically disabled people. However, assistive robotic systems such as EDAN are subject to kinematic and physical limitations regarding joint alignment, velocity and operating range. Those limits can prevent reaching a task’s goal if they are not compensated for properly. Based on the standard manipulability ellipsoid introduced by Yoshikawa in [1], a new deformed manipulability volume has been developed including kinematic and physical limits for the first time in a real-time capable approach. Optimizing for the distance from the center to the surface (called transmittion ratio or directional manipulability) allows to avoid singularities and joint limits that are obstacles to moving in this specific direction of interest. Other singularities or joint limits can be approached by intention in order to exploit the full capabilities of the robotic system. This new theory has been tested extensively in simulation and on the real robotic system, illustrating theoretical superiority compared to state-of-the-art methods. As a result, it is part of a recent patent claim by Maged Iskandar, Jörn Vogel and Frederic Sauer.

Item URL in elib:https://elib.dlr.de/137438/
Document Type:Monograph (DLR-Interner Bericht, Master's)
Title:Maximizing Task-Oriented Manipulability of Redundant Robots
AuthorsInstitution or Email of AuthorsAuthor's ORCID iDORCID Put Code
Date:12 June 2020
Refereed publication:No
Open Access:No
Keywords:Manipulability, Manipulability ellipsoid, Manipulability optimization
Institution:Technical University of Munich (TUM)
Department:Department of Informatics
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Space
HGF - Program Themes:Space System Technology
DLR - Research area:Raumfahrt
DLR - Program:R SY - Space System Technology
DLR - Research theme (Project):R - Vorhaben Weiterentwicklung Robotik - Mechatronik und Dynamik (old), R - Vorhaben Robotdynamik & Simulation (old)
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics (since 2013)
Institute of Robotics and Mechatronics (since 2013) > Analysis and Control of Advanced Robotic Systems
Deposited By: Iskandar, Maged Samuel Zakri
Deposited On:12 Nov 2020 11:34
Last Modified:12 Nov 2020 11:34

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