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Titel:

Globally Optimal Online Redundancy Resolution for Serial 7-DoF Kinematics Along SE(3) Trajectories

Dokumenttyp:
Konferenzbeitrag
Art des Konferenzbeitrags:
Textbeitrag / Aufsatz
Autor(en):
Huber, Gerold; Wollherr, Dirk
Abstract:
Redundant robots offer the possibility of improv- ing agility, compared to their non-redundant counterparts, by exploiting the additional kinematic DOFs to increase a measure called manipulability. While it is common to maximize the manipulability measure during redundancy resolution locally, global optimization of a full trajectory is usually computa- tionally too expensive and thus only considered for offline procedures in current literature. However, local maximization is prone to be...     »
Dewey-Dezimalklassifikation:
620 Ingenieurwissenschaften
Horizon 2020:
The research leading to these results has received funding from the Horizon 2020 research and innovation programme under grant agreement No. 820742 of the project ”HR- Recycler - Hybrid Human-Robot RECYcling plant for elec- triCal and eLEctRonic equipment”.
Kongress- / Buchtitel:
International Conference on Robotics and Automation (ICRA)
Ausrichter der Konferenz:
IEEE
Datum der Konferenz:
May 30-June 5, 2021
Jahr:
2021
Reviewed:
ja
Sprache:
en
Semester:
SS 21
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