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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. ISBN 978-3-319-03652-6.

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

Abstract

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
Authors:
AuthorsInstitution or Email of AuthorsAuthors 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
Date:2014
Journal or Publication Title:ROBOT2013: First Iberian Robotics Conference
Refereed publication:Yes
Open Access:No
Gold Open Access:No
In SCOPUS:No
In ISI Web of Science:No
Volume:253
DOI :10.1007/978-3-319-03653-3_50
Page Range:pp. 703-718
Publisher:Springer
Series Name:Advances in Intelligent Systems and Computing
ISBN:978-3-319-03652-6
Status:Published
Keywords:reachability, robotic manipulator
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Space
HGF - Program Themes:Space Technology
DLR - Research area:Raumfahrt
DLR - Program:R SY - Technik für Raumfahrtsysteme
DLR - Research theme (Project):R - Vorhaben on Orbit Servicing
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:13 Feb 2015 17:54

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