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Titel:

Efficient Closed-Form Task Space Manipulability for a 7-DOF Serial Robot

Dokumenttyp:
Zeitschriftenaufsatz
Autor(en):
Huber, Gerold; Wollherr, Dirk
Abstract:
With the increasing demand for robots to react and adapt to unforeseen events, it is essential that a robot preserves agility at all times. While manipulability is a common measure to quantify agility at a given joint configuration, an efficient direct evaluation in task space is usually not possible with conventional methods, especially for redundant robots with an infinite number of Inverse Kinematic solutions. Yet, this is essential for global online optimization of a robot posture. In this w...     »
Stichworte:
manipulability; inverse kinematics function; kinematic optimization; redundant robot
Zeitschriftentitel:
Robotics
Jahr:
2019
Band / Volume:
8
Heft / Issue:
4
Seitenangaben Beitrag:
98
Reviewed:
ja
Sprache:
en
Volltext / DOI:
doi:10.3390/robotics8040098
WWW:
https://www.mdpi.com/2218-6581/8/4/98
Verlag / Institution:
MDPI AG
E-ISSN:
2218-6581
Eingereicht (bei Zeitschrift):
29.09.2019
Angenommen (von Zeitschrift):
23.11.2019
Publikationsdatum:
26.11.2019
Semester:
WS 19-20
TUM Einrichtung:
Lehrstuhl für Steuerungs- und Regelungstechnik
CC-Lizenz:
by, http://creativecommons.org/licenses/by/4.0
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