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Reachability and Capability Analysis for Manipulation Tasks

  • Oliver PorgesEmail author
  • Theodoros Stouraitis
  • Christoph Borst
  • Maximo A. Roa
Part of the Advances in Intelligent Systems and Computing book series (AISC, volume 253)

Abstract

An offline analysis of the reachability of a robotic arm saves time for online queries like grasp selection or path planning. Reachability data is complemented with indices that quantify the goodness of one region in space to create a capability map, which can be computed based either on forward or inverse kinematics. This paper discusses the advantages and limitations of those methods, and proposes a hybrid method to improve the generation time while guaranteeing complete exploration of the space. The correctness of the results is studied with a prediction accuracy test. To illustrate the utility of a capability map, real-time visual information is incorporated to the map to help in the selection of grasp poses, or in path planning from an initial to a final pose.

Keywords

arm dexterity reachability manipulability capability map path planning 

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Copyright information

© Springer International Publishing Switzerland 2014

Authors and Affiliations

  • Oliver Porges
    • 1
    Email author
  • Theodoros Stouraitis
    • 1
  • Christoph Borst
    • 1
  • Maximo A. Roa
    • 1
  1. 1.Institute of Robotics and MechatronicsGerman Aerospace Center (DLR)WesslingGermany

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