Simulation tool for kinematic configuration control technology for dexterous robots

IECON'99. Conference Proceedings. 25th Annual Conference of the IEEE Industrial Electronics Society (Cat. No.99CH37029) Pub Date : 1999-11-29 DOI:10.1109/IECON.1999.822236

S. Alfs, O. Ivlev, C. Martens, A. Graser

{"title":"Simulation tool for kinematic configuration control technology for dexterous robots","authors":"S. Alfs, O. Ivlev, C. Martens, A. Graser","doi":"10.1109/IECON.1999.822236","DOIUrl":null,"url":null,"abstract":"A simulation tool for designing and testing control devices for advanced robots with an arbitrary number of redundant joints is presented. The novel real-time suitable control technology, called kinematic configuration control, bases on a new approach of resolving redundancy. For redundant manipulators with practical relevant regular kinematic chains, the approach allows to obtain a closed-form solution of the inverse kinematics, as for common nonredundant industrial robots. These offline evaluated symbolic inverse functions need low online computing power. Therefore also controllers for dexterous robots with high degree of redundancy can be implemented on low-cost consumer computer. The described PC-based simulator supports the design of this kind of controller. During a simulation process, the algorithm-specified parameters of inverse functions are optimized. The control algorithm is formed as a separate controller module. After verification it can be effortlessly transferred into a real robot control device.","PeriodicalId":378710,"journal":{"name":"IECON'99. Conference Proceedings. 25th Annual Conference of the IEEE Industrial Electronics Society (Cat. No.99CH37029)","volume":"68 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"1999-11-29","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"9","resultStr":null,"platform":"Semanticscholar","paperid":null,"PeriodicalName":"IECON'99. Conference Proceedings. 25th Annual Conference of the IEEE Industrial Electronics Society (Cat. No.99CH37029)","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/IECON.1999.822236","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}

引用次数: 9

Abstract

A simulation tool for designing and testing control devices for advanced robots with an arbitrary number of redundant joints is presented. The novel real-time suitable control technology, called kinematic configuration control, bases on a new approach of resolving redundancy. For redundant manipulators with practical relevant regular kinematic chains, the approach allows to obtain a closed-form solution of the inverse kinematics, as for common nonredundant industrial robots. These offline evaluated symbolic inverse functions need low online computing power. Therefore also controllers for dexterous robots with high degree of redundancy can be implemented on low-cost consumer computer. The described PC-based simulator supports the design of this kind of controller. During a simulation process, the algorithm-specified parameters of inverse functions are optimized. The control algorithm is formed as a separate controller module. After verification it can be effortlessly transferred into a real robot control device.

查看原文

微信好友朋友圈 QQ好友复制链接

本刊更多论文

灵巧机器人运动位形控制技术仿真工具

提出了一种用于设计和测试具有任意冗余关节的高级机器人控制装置的仿真工具。基于解决冗余问题的新方法，提出了一种新的实时适宜控制技术——运动组态控制。对于具有实际相关规则运动链的冗余机械臂，该方法可以获得与普通非冗余工业机器人相同的反运动学闭合解。这些离线求值的符号逆函数需要较低的在线计算能力。因此，高冗余度灵巧机器人的控制器也可以在低成本的消费级计算机上实现。所描述的基于pc机的模拟器支持这种控制器的设计。在仿真过程中，对算法指定的逆函数参数进行了优化。控制算法形成一个单独的控制器模块。经过验证后，可以毫不费力地将其转换为真实的机器人控制装置。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

求助全文

约1分钟内获得全文去求助

来源期刊

IECON'99. Conference Proceedings. 25th Annual Conference of the IEEE Industrial Electronics Society (Cat. No.99CH37029)

自引率

0.00%

发文量