DLR-Logo -> http://www.dlr.de
DLR Portal Home | Imprint | Privacy Policy | Contact | Deutsch
Fontsize: [-] Text [+]

Reachability and Capability Analysis for Manipulation Tasks

Porges, Oliver and Stouraitis, Theodoros and Borst, Christoph and Roa, Maximo A. (2014) Reachability and Capability Analysis for Manipulation Tasks. In: ROBOT2013: First Iberian Robotics Conference Advances in Intelligent Systems and Computing, 253. Springer. pp. 703-718. doi: 10.1007/978-3-319-03653-3_50. ISBN 978-3-319-03652-6.

[img] PDF - Only accessible within DLR

Official URL: http://link.springer.com/chapter/10.1007%2F978-3-319-03653-3_50#


An offline analysis of the reachability of a robotic arm saves time for online queries like grasp selection or path planning. Reachability data is complemented with indices that quantify the goodness of one region in space to create a capability map, which can be computed based either on forward or inverse kinematics. This paper discusses the advantages and limitations of those methods, and proposes a hybrid method to improve the generation time while guaranteeing complete exploration of the space. The correctness of the results is studied with a prediction accuracy test. To illustrate the utility of a capability map, real-time visual information is incorporated to the map to help in the selection of grasp poses, or in path planning from an initial to a final pose.

Item URL in elib:https://elib.dlr.de/90291/
Document Type:Book Section
Title:Reachability and Capability Analysis for Manipulation Tasks
AuthorsInstitution or Email of AuthorsAuthor's ORCID iD
Porges, Oliveroliver.porges (at) dlr.deUNSPECIFIED
Stouraitis, Theodorostheodoros.stouraitis (at) dlr.deUNSPECIFIED
Borst, ChristophChristoph.Borst (at) dlr.deUNSPECIFIED
Roa, Maximo A.maximo.roa (at) dlr.deUNSPECIFIED
Journal or Publication Title:ROBOT2013: First Iberian Robotics Conference
Refereed publication:Yes
Open Access:No
Gold Open Access:No
In ISI Web of Science:No
DOI :10.1007/978-3-319-03653-3_50
Page Range:pp. 703-718
Series Name:Advances in Intelligent Systems and Computing
Keywords:reachability, robotic manipulator
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Space
HGF - Program Themes:Space System Technology
DLR - Research area:Raumfahrt
DLR - Program:R SY - Space System Technology
DLR - Research theme (Project):R - On-Orbit Servicing [SY]
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics (since 2013) > Autonomy and Teleoperation
Deposited By: Roa Garzon, Dr. Máximo Alejandro
Deposited On:13 Feb 2015 17:54
Last Modified:20 Jun 2021 15:45

Repository Staff Only: item control page

Help & Contact
electronic library is running on EPrints 3.3.12
Copyright © 2008-2017 German Aerospace Center (DLR). All rights reserved.