Details
| Originalsprache | Englisch |
|---|---|
| Titel des Sammelwerks | 2011 IEEE International Conference on Robotics and Automation, ICRA 2011 |
| Erscheinungsort | Shanghai, China |
| Seiten | 1923-1929 |
| Seitenumfang | 7 |
| Publikationsstatus | Veröffentlicht - 2011 |
| Veranstaltung | 2011 IEEE International Conference on Robotics and Automation, ICRA 2011 - Shanghai, China Dauer: 9 Mai 2011 → 13 Mai 2011 |
Publikationsreihe
| Name | Proceedings - IEEE International Conference on Robotics and Automation |
|---|---|
| ISSN (Print) | 1050-4729 |
Abstract
In this paper experimental results are presented to compare the performance of kinematically redundant parallel robots with respect to their non-redundant counterparts. The main purpose is to validate existing simulated, i.e. claimed, findings demonstrating the advantages of kinematic redundancy in terms of singularity avoidance and, therefore, accuracy and precision. Exemplarily, the kinematically redundant prototype of the Institute at Mechatronic Systems is introduced. It is based on the well known planar 3RRR mechanism. In order to achieve kinematic redundancy, a prismatic actuator is added to the structure allowing one base joint to move linearly. As a result, the mechanism is able to reconfigure, i.e. optimize, its geometry according to different performance criteria and motion strategies. While performing a geometrical reconfiguration and following several desired (optimized) trajectories the pose of the end-effector is determined using an external measurement device. Hence, in addition to the encoder data of the actuators the performance can be analyzed without using any (uncertain) kinematic models. This allows for a meaningful comparative evaluation of the performance of kinematically redundant mechanisms.
ASJC Scopus Sachgebiete
- Informatik (insg.)
- Software
- Ingenieurwesen (insg.)
- Steuerungs- und Systemtechnik
- Informatik (insg.)
- Artificial intelligence
- Ingenieurwesen (insg.)
- Elektrotechnik und Elektronik
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2011 IEEE International Conference on Robotics and Automation, ICRA 2011. Shanghai, China, 2011. S. 1923-1929 5980056 (Proceedings - IEEE International Conference on Robotics and Automation).
Publikation: Beitrag in Buch/Bericht/Sammelwerk/Konferenzband › Aufsatz in Konferenzband › Forschung › Peer-Review
}
TY - GEN
T1 - Experimental validation of the influence of kinematic redundancy on the pose accuracy of parallel kinematic machines
AU - Kotlarski, Jens
AU - Heimann, Bodo
AU - Ortmaier, Tobias
PY - 2011
Y1 - 2011
N2 - In this paper experimental results are presented to compare the performance of kinematically redundant parallel robots with respect to their non-redundant counterparts. The main purpose is to validate existing simulated, i.e. claimed, findings demonstrating the advantages of kinematic redundancy in terms of singularity avoidance and, therefore, accuracy and precision. Exemplarily, the kinematically redundant prototype of the Institute at Mechatronic Systems is introduced. It is based on the well known planar 3RRR mechanism. In order to achieve kinematic redundancy, a prismatic actuator is added to the structure allowing one base joint to move linearly. As a result, the mechanism is able to reconfigure, i.e. optimize, its geometry according to different performance criteria and motion strategies. While performing a geometrical reconfiguration and following several desired (optimized) trajectories the pose of the end-effector is determined using an external measurement device. Hence, in addition to the encoder data of the actuators the performance can be analyzed without using any (uncertain) kinematic models. This allows for a meaningful comparative evaluation of the performance of kinematically redundant mechanisms.
AB - In this paper experimental results are presented to compare the performance of kinematically redundant parallel robots with respect to their non-redundant counterparts. The main purpose is to validate existing simulated, i.e. claimed, findings demonstrating the advantages of kinematic redundancy in terms of singularity avoidance and, therefore, accuracy and precision. Exemplarily, the kinematically redundant prototype of the Institute at Mechatronic Systems is introduced. It is based on the well known planar 3RRR mechanism. In order to achieve kinematic redundancy, a prismatic actuator is added to the structure allowing one base joint to move linearly. As a result, the mechanism is able to reconfigure, i.e. optimize, its geometry according to different performance criteria and motion strategies. While performing a geometrical reconfiguration and following several desired (optimized) trajectories the pose of the end-effector is determined using an external measurement device. Hence, in addition to the encoder data of the actuators the performance can be analyzed without using any (uncertain) kinematic models. This allows for a meaningful comparative evaluation of the performance of kinematically redundant mechanisms.
UR - http://www.scopus.com/inward/record.url?scp=84871706744&partnerID=8YFLogxK
U2 - 10.1109/ICRA.2011.5980056
DO - 10.1109/ICRA.2011.5980056
M3 - Conference contribution
AN - SCOPUS:84871706744
SN - 9781612843865
T3 - Proceedings - IEEE International Conference on Robotics and Automation
SP - 1923
EP - 1929
BT - 2011 IEEE International Conference on Robotics and Automation, ICRA 2011
CY - Shanghai, China
T2 - 2011 IEEE International Conference on Robotics and Automation, ICRA 2011
Y2 - 9 May 2011 through 13 May 2011
ER -