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Worst case braking trajectories for robotic motion simulators

Labusch, Andreas and Bellmann, Tobias and Sharma, Karan and Bals, Johann (2014) Worst case braking trajectories for robotic motion simulators. In: IEEE International Conference on Robotics and Automation (ICRA), pp. 3297-3302. IEEE. International Conference on Robotics and Automation, 31.05. - 07.06.2014, Hongkong.

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Official URL: http://ieeexplore.ieee.org/xpl/articleDetails.jsp?arnumber=6907333


Print Request Permissions Motion simulators based on industrial robots can produce high dynamic accelerations and velocities compared to classical hydraulic hexapod systems. In case of emergency stops, large and possibly harmful accelerations can occur. This paper aims to provide an optimization procedure to generate worst case trajectories in order to test for these harmful accelerations, by maximizing the kinetic energy prior the emergency stop. The dynamical and mechanical limits of the robot are considered as constraints of the optimization criterion. An exemplary worst case trajectory is simulated using a braking model and the resulting Head Injury Criterion (HIC) is calculated and compared with older tests, using non-optimized trajectories. A significant higher, yet with the current robot dynamics not harmful HIC value can be generated.

Item URL in elib:https://elib.dlr.de/92196/
Document Type:Conference or Workshop Item (Speech)
Title:Worst case braking trajectories for robotic motion simulators
AuthorsInstitution or Email of AuthorsAuthor's ORCID iD
Labusch, Andreasandreas.seefried (at) dlr.deUNSPECIFIED
Bellmann, Tobiastobias.bellmann (at) dlr.deUNSPECIFIED
Sharma, Karankaran.sharma (at) dlr.dehttps://orcid.org/0000-0002-3323-7034
Bals, Johannjohann.bals (at) dlr.deUNSPECIFIED
Date:31 May 2014
Journal or Publication Title:IEEE International Conference on Robotics and Automation (ICRA)
Refereed publication:Yes
Open Access:Yes
Gold Open Access:No
In ISI Web of Science:Yes
Page Range:pp. 3297-3302
Keywords:Motion Simulators, Optimization, HIC, Robotics
Event Title:International Conference on Robotics and Automation
Event Location:Hongkong
Event Type:international Conference
Event Dates:31.05. - 07.06.2014
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 - Terrestrial Assistance Robotics
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of System Dynamics and Control > Space System Dynamics
Institute of Robotics and Mechatronics (since 2013) > Autonomy and Teleoperation
Deposited By: Seefried, Andreas
Deposited On:19 Nov 2014 15:31
Last Modified:23 Feb 2019 00:21

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