Spielmann, Simon (2023) Entwicklung einer Trajektorienplanung auf Basis eines Plattform-Positionsreglers am Robotersystem EDAN. DLR-Interner Bericht. DLR-IB-RM-OP-2023-188. Bachelorarbeit. Duale Hochschule Baden Württemberg Mannheim. 90 S.
PDF
- Nur DLR-intern zugänglich
4MB |
Kurzfassung
The robotic system EDAN features an electric wheelchair equipped with a robotic arm and grasping device. Shared-control techniques assist the user of the system in performing everyday activities such as opening a door. Here, aligning the non-holonomic wheelchair platform often posed a major difficulty for the user. In order to facilitate this for the user, a trajectory planning algorithm based on a platform position controller to achieve a target pose was developed and integrated into the system. In particular, a path planning algorithm based on the concepts of Dubins curves was implemented. A suitable velocity profile was determined using time-optimal time-scaling, which allows compliance with velocity as well as acceleration limits. Finally, the developed trajectory planning was integrated on the EDAN robot system and analyzed for precision and efficiency.
elib-URL des Eintrags: | https://elib.dlr.de/201478/ | ||||||||
---|---|---|---|---|---|---|---|---|---|
Dokumentart: | Berichtsreihe (DLR-Interner Bericht, Bachelorarbeit) | ||||||||
Titel: | Entwicklung einer Trajektorienplanung auf Basis eines Plattform-Positionsreglers am Robotersystem EDAN | ||||||||
Autoren: |
| ||||||||
Datum: | 29 August 2023 | ||||||||
Referierte Publikation: | Nein | ||||||||
Open Access: | Nein | ||||||||
Gold Open Access: | Nein | ||||||||
In SCOPUS: | Nein | ||||||||
In ISI Web of Science: | Nein | ||||||||
Seitenanzahl: | 90 | ||||||||
Status: | veröffentlicht | ||||||||
Stichwörter: | Trajektorienplanung, Rollstuhlroboter, Assistenzrobotik | ||||||||
Institution: | Duale Hochschule Baden Württemberg Mannheim | ||||||||
HGF - Forschungsbereich: | Luftfahrt, Raumfahrt und Verkehr | ||||||||
HGF - Programm: | Raumfahrt | ||||||||
HGF - Programmthema: | Robotik | ||||||||
DLR - Schwerpunkt: | Raumfahrt | ||||||||
DLR - Forschungsgebiet: | R RO - Robotik | ||||||||
DLR - Teilgebiet (Projekt, Vorhaben): | R - Intelligente Mobilität (RM) [RO] | ||||||||
Standort: | Oberpfaffenhofen | ||||||||
Institute & Einrichtungen: | Institut für Robotik und Mechatronik (ab 2013) | ||||||||
Hinterlegt von: | Vogel, Jörn | ||||||||
Hinterlegt am: | 21 Dez 2023 08:47 | ||||||||
Letzte Änderung: | 21 Dez 2023 08:48 |
Nur für Mitarbeiter des Archivs: Kontrollseite des Eintrags