Improving Positioning Accuracy of Robotic Systems by Using Environmental Support Constraints – A New Bionic Approach

  • Albert Albers
  • Markus Frietsch
  • Christian Sander
Part of the Lecture Notes in Computer Science book series (LNCS, volume 6414)

Abstract

In state of the art robotics, high positioning accuracy is achieved by using solid and stiff components as well as powerful drives. But in the field of social robotics, for example humanoid robots, it is often not possible using this approach due to special boundary conditions like design-space, weight-limitations, power-storage and many more.By contrast human beings are able to achieve remarkable high positioning accuracy despite of low mass, low power consumption and relatively simple mechanics. One approach to obtain this accuracy is to temporarily create additional supporting structures by interacting with the direct environment, for example supporting the heel of the hand on a table for writing. This article deals with the essential idea of applying this method correspondingly into the field of robotics. Using different simulations the influence on stiffness and positioning accuracy is examined. It turned out that blocking of even one degree of freedom can lead to a significant improvement regarding stiffness and therefore positioning accuracy.

Keywords

Robotics bionic kinematics dynamics positioning accuracy 

Preview

Unable to display preview. Download preview PDF.

Unable to display preview. Download preview PDF.

References

  1. 1.
    Albers, A., Brudniok, S., Ottnad, J., Sauter, C., Sedchaicharn, K.: ARMARIII, The humanoid robot of SFB 588 - Design of the upper body. In: French-German Workshop on Humanoid and Legged Robots, Karlsruhe, Germany (2006)Google Scholar
  2. 2.
    Albers, A., Sauter, C., Frietsch, M.: ARMAR III – A Humanoid Robot Connecting Humans and Technology. In: International Conference on Innovative Technology (accepted 2010)Google Scholar
  3. 3.
    RIKEN: Powerful yet soft—RI-MAN, the caring robot. RIKEN Research 2(10) (2007), http://www.rikenresearch.riken.jp/eng/archive/issue/1/6
  4. 4.
    Mukai, T.: New robot to reduce burden on care facilities, RIKEN (2009), http://www.riken.jp/engn/r-world/info/release/press/2009/090827/image/090827.pdf
  5. 5.
    Albers, A., Ottnad, J.: Topologieoptimierung von Bauteilen in dynamischen und geregelten Systemen.Topology optimization of components in dynamic and controlled systems. IPEK Forschungsbericht Band 40 (2009)Google Scholar
  6. 6.
    Kuka: Take the robot by the hand.press release. Automatica (2006), http://www.kuka-robotics.com/en/pressevents
  7. 7.
    Santis, A., Siciliano, B.: Safety Issues for human-robot cooperation in manufacturing systems.VRTest (2008), http://www.phriends.eu/Virtual_08.pdf
  8. 8.
    IFR: Executive Summary of 2009 (2009), http://www.worldrobotics.org
  9. 9.
    Stryk, O., Klug, S., Möhl, B., Barth, O.: Der bionische Roboterarm. The bionic robotarm (2005), http://www.ttn-hessen.de/npkpublish
  10. 10.
    Ferrobotics:Romo – Touch and feel me, http://www.ferrobotics.at
  11. 11.
    Shan, Y., Koren, Y.: Design and Motion Planning of a Mechanical Snake. IEEE Transactions on Systems, Man and Cybernetics 23(4) (July/August 1993)Google Scholar
  12. 12.
    Kaneko, K., Harada, K., Kanehiro, F., Miyamori, G., Akachi, K.: Humanoid Robot HRP-3. In: 2008 IEEE/RSJ International Conference on Intelligent Robots and Systems, Acropolis Convention Center, Nice, France, September 22-26 (2008)Google Scholar
  13. 13.
    Takubo, T., Arai, H., Hayashibara, Y., Tanie, K.: Human-Robot Cooperative Manipulation Using a Virtual Nonholonomic Constraint. The International Journal of Robotics Research (2002)Google Scholar
  14. 14.
    Nakamura, Y., Yamane, K.: Dynamics Computation of Structure-Varying Kinematic Chains and Its Application to Human Figures. IEEE Transactions on Robotics and Automation 16(2) (April 2000)Google Scholar
  15. 15.
    Weber, W.: Industrieroboter. Industrial robots. HANSER (2007) ISBN: 3446410317Google Scholar
  16. 16.
    Chudnovsky, V., Mukherjee, A., Wendlandt, J., Kennedy, D.: Modeling Flexible Bodies in SimMechanics. MATLAB Digest (2006)Google Scholar
  17. 17.
    Mathworks: Technichal Solutions. support website (2010), http://www.mathworks.com/support/
  18. 18.
    Collaborative research center 588 - Humanoid robots (2010), http://www.sfb588.uni-karlsruhe.de

Copyright information

© Springer-Verlag Berlin Heidelberg 2010

Authors and Affiliations

  • Albert Albers
    • 1
  • Markus Frietsch
    • 1
  • Christian Sander
    • 1
  1. 1.IPEK – Institute of Product Engineering KarlsruheKIT – Karlsruhe Institute of TechnologyKarlsruheGermany

Personalised recommendations