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

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.

[img] PDF
1MB

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

Abstract

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
Authors:
AuthorsInstitution or Email of AuthorsAuthors 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 SCOPUS:No
In ISI Web of Science:Yes
Page Range:pp. 3297-3302
Publisher:IEEE
Status:Published
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 Technology
DLR - Research area:Raumfahrt
DLR - Program:R SY - Technik für Raumfahrtsysteme
DLR - Research theme (Project):R - Vorhaben Terrestrische Assistenz-Robotik
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

Repository Staff Only: item control page

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