Skip to main content
Log in

Modulare serielle Roboter

Modular serial robots

  • Originalarbeiten
  • Published:
e & i Elektrotechnik und Informationstechnik Aims and scope Submit manuscript

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.

This is a preview of subscription content, log in via an institution to check access.

Access this article

Subscribe and save

Springer+ Basic
EUR 32.99 /Month
  • Get 10 units per month
  • Download Article/Chapter or Ebook
  • 1 Unit = 1 Article or 1 Chapter
  • Cancel anytime
Subscribe now

Buy Now

Price excludes VAT (USA)
Tax calculation will be finalised during checkout.

Instant access to the full article PDF.

Abb. 1.
Abb. 2.
Abb. 3.

Literatur

  1. Husty, M., Pfurner, M., Schröcker, H.-P. (2005): A new and efficient algorithm for the inverse kinematics of a general serial 6R. In Proceedings of ASME 2005 29th mechanism and robotics conference, Long Beach.

    Google Scholar 

  2. Jenkins, M. A., Traub, J. F. (1970): A three-stage variables-shift iteration for polynomial zeros and its relation to generalized Rayleigh iteration. Numer. Math., 14, 252–263.

    Article  MathSciNet  MATH  Google Scholar 

  3. Lee, C. S. G. (1982): Robot arm kinematics, dynamics and control. Computer, 15(12), 62–80.

    Article  Google Scholar 

  4. Lee, H. Y., Liang, C. G. (1988): A new vector theory for the analysis of spatial mechanisms. Mech. Mach. Theory, 23(3), 209–217.

    Article  Google Scholar 

  5. Liu, S., Zhu, S. (2007): An optimized real time algorithm for the inverse kinematics of general 6R robots. In Proceedings of the IEEE international conference on control and automation, Guangzhou, China, S. 2080–2084.

    Google Scholar 

  6. Manocha, D., Canny, J. F. (1992): Real time inverse kinematics for general 6R manipulators. In Proceedings of the IEEE international conference on robotics and automation, Nice, France (S. 383–389).

    Google Scholar 

  7. Raghavan, M., Roth, B. (1990): Inverse kinematics of the general 6R manipulator and related linkages. Trans. ASME, J. Mech. Des., 115, 228–235.

    Google Scholar 

  8. Siciliano, B., et al. (2010): Robotics – modelling, planning and control. London: Springer. S. 90ff.

    Google Scholar 

  9. Siciliano, B., Khatib, O. (2008): Handbook of robotics (Vol. 27). Berlin: Springer.

    Book  MATH  Google Scholar 

  10. Sugihara, T. (2011): Solvability-unconcerned inverse kinematics by the Levenberg-Marquardt method. IEEE Trans. Robot., 27(5), 984–991.

    Article  MathSciNet  Google Scholar 

Download references

Danksagung

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

Author information

Authors and Affiliations

Authors

Corresponding author

Correspondence to Arthur Angerer.

Rights and permissions

Reprints and permissions

About this article

Cite this article

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

Download citation

  • Received:

  • Accepted:

  • Published:

  • Issue Date:

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

Schlüsselwörter

Keywords

Navigation