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Kinematically Optimal Catching a Flying Ball with a Hand-Arm-System

Bäuml, Berthold and Wimböck, Thomas and Hirzinger, Gerd (2010) Kinematically Optimal Catching a Flying Ball with a Hand-Arm-System.

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Abstract

A robotic ball-catching system built from a multi- purpose 7-DOF lightweight arm (DLR-LWR-III) and a 12 DOF four-fingered hand (DLR-Hand-II) is presented. Other than in previous work a mechatronically complex dexterous hand is used for grasping the ball and the decision of where, when and how to catch the ball, while obeying joint, speed and work cell limits, is formulated as an unified nonlinear optimization problem with nonlinear constraints. Three different objective functions are implemented, leading to significantly different robot movements. The high computational demands of an online realtime optimization are met by parallel computation on distributed computing resources (a cluster with 32 CPU cores). The system achieves a catch rate of > 80% and is regularly shown as a live demo at our institute.

Item URL in elib:https://elib.dlr.de/67146/
Document Type:Proceedings
Title:Kinematically Optimal Catching a Flying Ball with a Hand-Arm-System
Authors:
AuthorsInstitution or Email of AuthorsAuthors ORCID iD
Bäuml, Bertholdberthold.baeuml (at) dlr.deUNSPECIFIED
Wimböck, ThomasUNSPECIFIEDUNSPECIFIED
Hirzinger, GerdUNSPECIFIEDUNSPECIFIED
Date:2010
Open Access:No
In DOAJ:No
In SCOPUS:No
In ISI Web of Science:No
Status:Published
Keywords:planning
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):W - Weiterentwicklung Robotik - Telerobotik und Autonomie (old)
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics (until 2012)
Deposited By: Bäuml, Berthold
Deposited On:16 Dec 2010 15:25
Last Modified:12 Dec 2013 21:08

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