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Mechatronic concepts in the design of new multisensory light-weight-robots

Hirzinger, G. and Koeppe, R. and Schedl, M. and Gombert, B. and Dietrich, J. (1993) Mechatronic concepts in the design of new multisensory light-weight-robots. In: Proc. Second Conference on Mechatronics and Robotics. Duisburg/Moers, Sept. 27-29, 1993, Vortragender: Prof. Hirzinger.

Full text not available from this repository.

Abstract

The paper outlines DLR's mechatronic development in the robotics area over the last five years. They aim at designing a new multisensory light weight robot generation in a unified and integral way. All sensors for the multisensory gripper concept are based on a fully modular hard- and software-concept. Sensors and actuators as well show up miniaturized integration of mechanics, electronics and of course microprocessor control. Joint torque based on inductive sensing is combined with different type of gearings: translational ones originally developed for grippers only as well as compact, highly reducing rotational ones. In combination with optimized carbon fibre grid structures and optical information transfer between the joints a new, extremely light-weight type of robot arises. The paper finally proposes a hybrid control concept adding neural net learning features to classical inverse dynamics control.

Item URL in elib:https://elib.dlr.de/28056/
Document Type:Conference or Workshop Item (Paper)
Additional Information: LIDO-Berichtsjahr=1993, pages=21,
Title:Mechatronic concepts in the design of new multisensory light-weight-robots
Authors:
AuthorsInstitution or Email of AuthorsAuthors ORCID iD
Hirzinger, G.UNSPECIFIEDUNSPECIFIED
Koeppe, R.UNSPECIFIEDUNSPECIFIED
Schedl, M.UNSPECIFIEDUNSPECIFIED
Gombert, B.UNSPECIFIEDUNSPECIFIED
Dietrich, J.UNSPECIFIEDUNSPECIFIED
Date:1993
Journal or Publication Title:Proc. Second Conference on Mechatronics and Robotics
Open Access:No
Gold Open Access:No
In SCOPUS:No
In ISI Web of Science:No
Status:Published
Event Title:Duisburg/Moers, Sept. 27-29, 1993, Vortragender: Prof. Hirzinger
HGF - Research field:UNSPECIFIED
HGF - Program:Space (old)
HGF - Program Themes:W SY - Technik für Raumfahrtsysteme
DLR - Research area:UNSPECIFIED
DLR - Program:W SY - Technik für Raumfahrtsysteme
DLR - Research theme (Project):UNSPECIFIED
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics (until 2012) > Institut für Dynamik der Flugsysteme
Deposited By: DLR-Beauftragter, elib
Deposited On:02 Apr 2006
Last Modified:27 Apr 2009 06:52

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