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

  • Oliver Kotz
  • Matthias Stapf
  • Mark Becke
Conference paper
Part of the Lecture Notes in Computer Science book series (LNCS, 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.

Keywords

Dynamic performance Trajectory placement Workspace examination Brute-force search GPU parallelization 

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Copyright information

© Springer International Publishing Switzerland 2015

Authors and Affiliations

  1. 1.Regensburg Robotics Research Unit, Faculty of Mechanical EngineeringOstbayerische Technische HochschuleRegensburgGermany

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