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Document type:
Konferenzbeitrag 
Contribution type:
Textbeitrag / Aufsatz 
Author(s):
Huber, Gerold; Wollherr, Dirk 
Title:
Globally Optimal Online Redundancy Resolution for Serial 7-DoF Kinematics Along SE(3) Trajectories 
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 Decimal Classification:
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”. 
Book / Congress title:
International Conference on Robotics and Automation (ICRA) 
Organization:
IEEE 
Date of congress:
May 30-June 5, 2021 
Year:
2021 
Reviewed:
ja 
Language:
en 
Semester:
SS 21