Bellmann, Tobias und Otter, Martin und Hirzinger, Gerd (2011) The DLR Robot Motion Simulator Part II : Optimization based path-planning. IEEE International Conference on Robotics and Automation, 2011-05-09 - 2011-05-13, Shanghai, China.
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Kurzfassung
In Part I of the paper, a noval motion simulator platform is presented, the DLR Robot Motion Simulator with 7 degrees of freedom (DOF). In this Part II, a path-planning algorithm for mentioned platform will be discussed. By replacing the widely used hexapod kinematics by an antropomorhic, industial robot arm mounted on a standard linerar axis, a comparably larger workspace at lower hardware costs can be achieved. But the serial, redundant kinematics of the industrial robot system also introduces challenges for the path-planning as singularities in the workspace, varying movability of the system and the handling of robot system´s kinematical redundancy. By solving an optimization problem with constraints in every sampling step, a feasible trajectory can be generated, fulfilling the task of motion cueing, while respecthing the robot´s dynamic constraints.
elib-URL des Eintrags: | https://elib.dlr.de/71363/ | ||||||||||||||||
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Dokumentart: | Konferenzbeitrag (Vortrag) | ||||||||||||||||
Titel: | The DLR Robot Motion Simulator Part II : Optimization based path-planning | ||||||||||||||||
Autoren: |
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Datum: | 2011 | ||||||||||||||||
Referierte Publikation: | Ja | ||||||||||||||||
Open Access: | Nein | ||||||||||||||||
Gold Open Access: | Nein | ||||||||||||||||
In SCOPUS: | Nein | ||||||||||||||||
In ISI Web of Science: | Nein | ||||||||||||||||
Status: | veröffentlicht | ||||||||||||||||
Stichwörter: | motion simulator, robot | ||||||||||||||||
Veranstaltungstitel: | IEEE International Conference on Robotics and Automation | ||||||||||||||||
Veranstaltungsort: | Shanghai, China | ||||||||||||||||
Veranstaltungsart: | internationale Konferenz | ||||||||||||||||
Veranstaltungsbeginn: | 9 Mai 2011 | ||||||||||||||||
Veranstaltungsende: | 13 Mai 2011 | ||||||||||||||||
HGF - Forschungsbereich: | Luftfahrt, Raumfahrt und Verkehr | ||||||||||||||||
HGF - Programm: | Luftfahrt | ||||||||||||||||
HGF - Programmthema: | Starrflügler (alt) | ||||||||||||||||
DLR - Schwerpunkt: | Luftfahrt | ||||||||||||||||
DLR - Forschungsgebiet: | L AR - Starrflüglerforschung | ||||||||||||||||
DLR - Teilgebiet (Projekt, Vorhaben): | L - Systeme & Kabine (alt) | ||||||||||||||||
Standort: | Oberpfaffenhofen | ||||||||||||||||
Institute & Einrichtungen: | Institut für Robotik und Mechatronik (bis 2012) > Systemdynamik und Regelungstechnik (war Entwurfsorientierte Regelungstechnik) | ||||||||||||||||
Hinterlegt von: | Klauer, Monika | ||||||||||||||||
Hinterlegt am: | 26 Okt 2011 15:21 | ||||||||||||||||
Letzte Änderung: | 09 Jul 2024 13:56 |
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