Lange, Friedrich und Suppa, Michael (2015) Trajectory Generation for Immediate Path-Accurate Jerk-Limited Stopping of Industrial Robots. In: IEEE International Conference on Robotics and Automation (ICRA), Seiten 2021-2026. Int. Conf. on Robotics and Automation (ICRA), 2015-05-26 - 2015-05-30, Seattle, WA, USA. doi: 10.1109/icra.2015.7139463.
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Offizielle URL: http://www.icra2015.org/
Kurzfassung
Stopping the motion of industrial robots in response to warnings or unexpected sensor data is a special case of trajectory generation. In contrast to emergency stops, here the robot has to satisfy the limits of the acceleration and the jerk. In addition, during the deceleration the robot must follow the path accurately, i.e., the shape of the original path may not be left. This is usually done by scaling the desired velocity. However, for curved paths, e.g. those generated by blending of linear motion commands, by sensor corrections, or directly by splines, this method may leave the desired path. The problem is solved by interpolation using the arc length. In contrast to other methods, here the constraints are considered directly, resulting in a time-efficient computation. Finally, the proposed method prevents a rebound caused by the jerk limits when reaching zero velocity. Experiments are presented using a stiff KUKA robot whose path is exactly tracked during deceleration.
elib-URL des Eintrags: | https://elib.dlr.de/96525/ | ||||||||||||
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Dokumentart: | Konferenzbeitrag (Vortrag, Anderer) | ||||||||||||
Titel: | Trajectory Generation for Immediate Path-Accurate Jerk-Limited Stopping of Industrial Robots | ||||||||||||
Autoren: |
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Datum: | 26 Mai 2015 | ||||||||||||
Erschienen in: | IEEE International Conference on Robotics and Automation (ICRA) | ||||||||||||
Referierte Publikation: | Ja | ||||||||||||
Open Access: | Ja | ||||||||||||
Gold Open Access: | Nein | ||||||||||||
In SCOPUS: | Nein | ||||||||||||
In ISI Web of Science: | Ja | ||||||||||||
DOI: | 10.1109/icra.2015.7139463 | ||||||||||||
Seitenbereich: | Seiten 2021-2026 | ||||||||||||
Status: | veröffentlicht | ||||||||||||
Stichwörter: | Robotics, Trajectory Control | ||||||||||||
Veranstaltungstitel: | Int. Conf. on Robotics and Automation (ICRA) | ||||||||||||
Veranstaltungsort: | Seattle, WA, USA | ||||||||||||
Veranstaltungsart: | internationale Konferenz | ||||||||||||
Veranstaltungsbeginn: | 26 Mai 2015 | ||||||||||||
Veranstaltungsende: | 30 Mai 2015 | ||||||||||||
Veranstalter : | IEEE RAS | ||||||||||||
HGF - Forschungsbereich: | Luftfahrt, Raumfahrt und Verkehr | ||||||||||||
HGF - Programm: | Raumfahrt | ||||||||||||
HGF - Programmthema: | Technik für Raumfahrtsysteme | ||||||||||||
DLR - Schwerpunkt: | Raumfahrt | ||||||||||||
DLR - Forschungsgebiet: | R SY - Technik für Raumfahrtsysteme | ||||||||||||
DLR - Teilgebiet (Projekt, Vorhaben): | R - Vorhaben Multisensorielle Weltmodellierung (alt) | ||||||||||||
Standort: | Oberpfaffenhofen | ||||||||||||
Institute & Einrichtungen: | Institut für Robotik und Mechatronik (ab 2013) > Perzeption und Kognition | ||||||||||||
Hinterlegt von: | Lange, Dr.-Ing. Friedrich | ||||||||||||
Hinterlegt am: | 17 Jun 2015 11:21 | ||||||||||||
Letzte Änderung: | 24 Apr 2024 20:02 |
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