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

Reachability and Dexterity: Analysis and Applications for Space Robotics

Porges, Oliver and Lampariello, Roberto and Artigas, Jordi and Wedler, Armin and Borst, Christoph and Roa, Maximo A. (2015) Reachability and Dexterity: Analysis and Applications for Space Robotics. In: Workshop on Advanced Space Technologies for Robotics and Automation - ASTRA. Workshop on Advanced Space Technologies for Robotics and Automation (ASTRA), 11-13 May 2015, Noordwijk, Netherlands.

[img] PDF
7MB

Official URL: http://robotics.estec.esa.int/ASTRA/Astra2015/index.html

Abstract

The utility of a mobile manipulator largely depends on its kinematic structure and mounting point on the robot body. The reachable workspace of the robot can be obtained offline and modeled as a discretized map called Reachability map. A Capability map is obtained by including some quality measure for the local dexterity of the manipulator, which helps to identify good and bad regions for manipulation. Once the maps are obtained based on forward or inverse kinematic methods, they can be used for numerous analysis tasks such as robot kinematics and workspace quality assessment, robot mounting point analysis or redundancy and failure analysis. This paper covers basic aspects of the Reachability and Capability map generation and storage, and shows particular applications of the maps for space robotics.

Item URL in elib:https://elib.dlr.de/97212/
Document Type:Conference or Workshop Item (Speech)
Title:Reachability and Dexterity: Analysis and Applications for Space Robotics
Authors:
AuthorsInstitution or Email of AuthorsAuthors ORCID iD
Porges, Oliveroliver.porges (at) dlr.deUNSPECIFIED
Lampariello, RobertoRoberto.Lampariello (at) dlr.deUNSPECIFIED
Artigas, JordiJordi.Artigas (at) dlr.deUNSPECIFIED
Wedler, ArminArmin.Wedler (at) dlr.deUNSPECIFIED
Borst, ChristophChristoph.Borst (at) dlr.deUNSPECIFIED
Roa, Maximo A.maximo.roa (at) dlr.deUNSPECIFIED
Date:May 2015
Journal or Publication Title:Workshop on Advanced Space Technologies for Robotics and Automation - ASTRA
Refereed publication:No
Open Access:Yes
Gold Open Access:No
In SCOPUS:No
In ISI Web of Science:No
Status:Published
Keywords:reachability, dexterity, robotic manipulator
Event Title:Workshop on Advanced Space Technologies for Robotics and Automation (ASTRA)
Event Location:Noordwijk, Netherlands
Event Type:Workshop
Event Dates:11-13 May 2015
Organizer:ESA
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 Jul 2015 10:43
Last Modified:31 Jul 2019 19:54

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.