Automatic Generation of Serial Robot Architectures from Required Motion Directions

Publikation: Beitrag in Buch/Bericht/Sammelwerk/Konferenzband › Aufsatz in Konferenzband › Forschung › Peer-Review

Autoren

  • D. Ramirez
  • Jens Kotlarski
  • Tobias Ortmaier

Organisationseinheiten

Externe Organisationen

  • Universidad Santo Tomas
Forschungs-netzwerk anzeigen

Details

OriginalspracheEnglisch
Titel des SammelwerksAST Symposium on Automated Systems and Technologies
ErscheinungsortGarbsen, Germany
Seiten55-63
PublikationsstatusVeröffentlicht - 2014

Abstract

This paper presents an approach for the automatic generation of serial robot architectures, which, in comparison to existing methods, is easier to implement in a computer aided design process. From the required Cartesian translational and rotational motions along the axes of the robot base reference frame, the feasible serial robot architectures are generated using a discret set of Denavit-Hartenberg parameters and the rank of the Jacobian matrix. The method begins with the definition of the required motion through a required motion vector, which can be manipulated to take into account possible orientations of the robot base. The complete algorithm as well as an application example are given. Finally, the number of solutions generated with the proposed method are listed for serial manipulators from two to five degrees of freedom.

Zitieren

Automatic Generation of Serial Robot Architectures from Required Motion Directions. / Ramirez, D.; Kotlarski, Jens; Ortmaier, Tobias.
AST Symposium on Automated Systems and Technologies. Garbsen, Germany, 2014. S. 55-63.

Publikation: Beitrag in Buch/Bericht/Sammelwerk/Konferenzband › Aufsatz in Konferenzband › Forschung › Peer-Review

Ramirez, D, Kotlarski, J & Ortmaier, T 2014, Automatic Generation of Serial Robot Architectures from Required Motion Directions. in AST Symposium on Automated Systems and Technologies. Garbsen, Germany, S. 55-63.
Ramirez, D., Kotlarski, J., & Ortmaier, T. (2014). Automatic Generation of Serial Robot Architectures from Required Motion Directions. In AST Symposium on Automated Systems and Technologies (S. 55-63).
Ramirez D, Kotlarski J, Ortmaier T. Automatic Generation of Serial Robot Architectures from Required Motion Directions. in AST Symposium on Automated Systems and Technologies. Garbsen, Germany. 2014. S. 55-63
Ramirez, D. ; Kotlarski, Jens ; Ortmaier, Tobias. / Automatic Generation of Serial Robot Architectures from Required Motion Directions. AST Symposium on Automated Systems and Technologies. Garbsen, Germany, 2014. S. 55-63
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abstract = "This paper presents an approach for the automatic generation of serial robot architectures, which, in comparison to existing methods, is easier to implement in a computer aided design process. From the required Cartesian translational and rotational motions along the axes of the robot base reference frame, the feasible serial robot architectures are generated using a discret set of Denavit-Hartenberg parameters and the rank of the Jacobian matrix. The method begins with the definition of the required motion through a required motion vector, which can be manipulated to take into account possible orientations of the robot base. The complete algorithm as well as an application example are given. Finally, the number of solutions generated with the proposed method are listed for serial manipulators from two to five degrees of freedom.",
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