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Bellmann, Tobias and Otter, Martin and 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. doi: 10.1109/icra.2011.5979914.
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Abstract
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.
| Item URL in elib: | https://elib.dlr.de/71363/ | ||||||||||||||||
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| Document Type: | Conference or Workshop Item (Speech) | ||||||||||||||||
| Title: | The DLR Robot Motion Simulator Part II : Optimization based path-planning | ||||||||||||||||
| Authors: |
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| Date: | 2011 | ||||||||||||||||
| Refereed publication: | Yes | ||||||||||||||||
| Open Access: | No | ||||||||||||||||
| Gold Open Access: | No | ||||||||||||||||
| In SCOPUS: | No | ||||||||||||||||
| In ISI Web of Science: | No | ||||||||||||||||
| DOI: | 10.1109/icra.2011.5979914 | ||||||||||||||||
| Status: | Published | ||||||||||||||||
| Keywords: | motion simulator, robot | ||||||||||||||||
| Event Title: | IEEE International Conference on Robotics and Automation | ||||||||||||||||
| Event Location: | Shanghai, China | ||||||||||||||||
| Event Type: | international Conference | ||||||||||||||||
| Event Start Date: | 9 May 2011 | ||||||||||||||||
| Event End Date: | 13 May 2011 | ||||||||||||||||
| HGF - Research field: | Aeronautics, Space and Transport | ||||||||||||||||
| HGF - Program: | Aeronautics | ||||||||||||||||
| HGF - Program Themes: | Aircraft Research (old) | ||||||||||||||||
| DLR - Research area: | Aeronautics | ||||||||||||||||
| DLR - Program: | L AR - Aircraft Research | ||||||||||||||||
| DLR - Research theme (Project): | L - Systems & Cabin (old) | ||||||||||||||||
| Location: | Oberpfaffenhofen | ||||||||||||||||
| Institutes and Institutions: | Institute of Robotics and Mechatronics (until 2012) > System Dynamics and Control (former Control Design Engineering) | ||||||||||||||||
| Deposited By: | Klauer, Monika | ||||||||||||||||
| Deposited On: | 26 Oct 2011 15:21 | ||||||||||||||||
| Last Modified: | 11 Nov 2024 09:04 |
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