The DLR Robot Motion Simulator Part II: Optimization based path-planning
In Part I of this paper, a novel motion simulator platform is presented, the DLR Robot Motion Simulator with 7 degrees of freedom (DOF). In this Part II, a path-planning algorithm for mentioned platform will be discussed. By replacing the widely used hexapod kinematics by an antropomorhic, industrial robot arm mounted on a standard linear axis, a comparably larger workspace at lower hardware costs can be achieved. But the serial, redundant kinematics of the industrial robot system also introduces challenges for the path-planning as singularities in the workspace, varying movability of the system and the handling of robot system’s kinematical redundancy. By solving an optimization problem with constraints in every sampling step, a feasible trajectory can be generated, fulfilling the task of motion cueing, while respecting the robot’s dynamic constraints.
Tobias Bellmann Martin Otter Gerd Hirzinger
Institute of Robotics and Mechatronics,German Aerospace Center,82234 Oberpfaffenhofen,Germany
国际会议
2011 IEEE International Conference on Robotics and Automation(2011年IEEE世界机器人与自动化大会 ICRA 2011)
上海
英文
4702-4709
2011-05-09（万方平台首次上网日期，不代表论文的发表时间）