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International Conference on Intelligent Robotics and Applications

ICIRA 2015: Intelligent Robotics and Applications pp 345–357Cite as

GPU-Based Task Specific Evaluation of the Dynamic Performance of a 6DOF Manipulator

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Part of the book series: Lecture Notes in Computer Science ((LNAI,volume 9245))

Abstract

This paper addresses the problem of properly placing a given task in the manipulator workspace by a heuristic and numeric approach. Thus, the task is placed relatively to the manipulator for each element of the discretized workspace and the required joint torques are determined. The results are are by a torque-based optimization criterion. The modularity of this approach ensures general applicability on various systems and tasks while the high computational effort is treated by GPU parallelization. The method is presented for a given 6DOF manipulator and a highly dynamic trajectory. The resulting interactive map of the manipulator workspace gives an overview of the task dependent dynamic performance, detailed evaluation of certain solutions will show the dexterity of the proposed approach.

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Author information

Authors and Affiliations

  1. Regensburg Robotics Research Unit, Faculty of Mechanical Engineering, Ostbayerische Technische Hochschule, Regensburg, Germany

    Oliver Kotz, Matthias Stapf & Mark Becke

Authors
  1. Oliver Kotz
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  2. Matthias Stapf
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  3. Mark Becke
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Corresponding author

Correspondence to Oliver Kotz .

Editor information

Editors and Affiliations

  1. University of Portsmouth, Portsmouth, United Kingdom

    Honghai Liu

  2. Tokyo Metropolitan University, Tokyo, Japan

    Naoyuki Kubota

  3. Shanghai Jiao Tong University, Shanghai, China

    Xiangyang Zhu

  4. Karlsruhe Institute of Technology, Karlsruhe, Germany

    Rüdiger Dillmann

  5. University of Portsmouth, Portsmouth, United Kingdom

    Dalin Zhou

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© 2015 Springer International Publishing Switzerland

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Cite this paper

Kotz, O., Stapf, M., Becke, M. (2015). GPU-Based Task Specific Evaluation of the Dynamic Performance of a 6DOF Manipulator. In: Liu, H., Kubota, N., Zhu, X., Dillmann, R., Zhou, D. (eds) Intelligent Robotics and Applications. ICIRA 2015. Lecture Notes in Computer Science(), vol 9245. Springer, Cham. https://doi.org/10.1007/978-3-319-22876-1_30

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  • DOI: https://doi.org/10.1007/978-3-319-22876-1_30

  • Published:

  • Publisher Name: Springer, Cham

  • Print ISBN: 978-3-319-22875-4

  • Online ISBN: 978-3-319-22876-1

  • eBook Packages: Computer ScienceComputer Science (R0)

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