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Modulare serielle Roboter

Modular serial robots

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Zusammenfassung

Modulare serielle Roboter erlauben es, den Roboteraufbau rasch an sich ändernde Handhabungsaufgaben anzupassen. Hierbei stellt die große Vielfalt an resultierenden Kinematiken eine große Herausforderung für die Regelung derartiger Roboter dar. Im Beitrag wird die Anwendung einer neuartigen allgemeinen Lösung des inversen Kinematik-Problems vorgeschlagen und diese auf Flexibilität bezüglich der möglichen Robotergeometrie, numerische Robustheit und Komplexität analysiert und mit alternativen Berechnungsverfahren verglichen.

Abstract

Modular serial robots allow a fast adaption of the robot geometry to changing execution tasks. Thus, a challenge to robot control is to deal with this vast variety of resulting kinematic designs. This contribution discusses the use of a new general method for solving the inverse kinematics problem. Flexibility with respect to the robot geometry, numerical robustness and complexity of this method is analyzed and a comparison with alternative methods is performed.

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Danksagung

Die in diesem Beitrag dargestellte Arbeit wurde von der Standortagentur Tirol im Rahmen des Förderprogramms Translational Research – Projekt KineControl – gefördert.

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Authors and Affiliations

  1. Institut für Automatisierungs- und Regelungstechnik, UMIT – Private Universität für Gesundheitswissenschaften, Medizinische Informatik und Technik, Eduard Wallnöfer-Zentrum 1, 6060, Hall in Tirol, Österreich

    Arthur Angerer, Mathias Brandstötter & Michael Hofbaur

  2. Arbeitsbereich für Geometrie und CAD, Universität Innsbruck, Technikerstraße 13, 6020, Innsbruck, Österreich

    Martin Pfurner

Authors
  1. Arthur Angerer
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  2. Martin Pfurner
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  3. Mathias Brandstötter
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  4. Michael Hofbaur
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Correspondence to Arthur Angerer.

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Angerer, A., Pfurner, M., Brandstötter, M. et al. Modulare serielle Roboter. Elektrotech. Inftech. 130, 48–53 (2013). https://doi.org/10.1007/s00502-013-0130-8

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  • DOI: https://doi.org/10.1007/s00502-013-0130-8

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