Details
| Originalsprache | Englisch |
|---|---|
| Titel des Sammelwerks | 2010 IEEE International Conference on Robotics and Automation, ICRA 2010 |
| Erscheinungsort | Anchorage (Alaska), USA |
| Seiten | 656-661 |
| Seitenumfang | 6 |
| Publikationsstatus | Veröffentlicht - 2010 |
| Veranstaltung | 2010 IEEE International Conference on Robotics and Automation, ICRA 2010 - Anchorage, AK, USA / Vereinigte Staaten Dauer: 3 Mai 2010 → 7 Mai 2010 |
Publikationsreihe
| Name | Proceedings - IEEE International Conference on Robotics and Automation |
|---|---|
| ISSN (Print) | 1050-4729 |
Abstract
In this paper five different optimization strategies for kinematically redundant mechanisms, i.e. mechanisms having additional actuator(s) in at least one kinematic chain, are presented. They are based on two main approaches, a discrete optimization and a classical continuous optimization. Exemplarily, a planar, kinematically redundant 3RRR-based mechanism is introduced. The position of its redundant actuator, i.e. the robot geometry, is optimized according to an optimization criterion that is denoted as the gain of the maximal homogenized pose error. Several analysis examples demonstrate the effectiveness of kinematic redundancy with respect to the introduced optimization procedures. It is shown that in comparison to discrete approaches, classical continuous-based optimization strategies do not necessarily lead to more appropriate results in terms of performance improvement.
ASJC Scopus Sachgebiete
- Informatik (insg.)
- Software
- Ingenieurwesen (insg.)
- Steuerungs- und Systemtechnik
- Informatik (insg.)
- Artificial intelligence
- Ingenieurwesen (insg.)
- Elektrotechnik und Elektronik
Zitieren
- Standard
- Harvard
- Apa
- Vancouver
- BibTex
- RIS
2010 IEEE International Conference on Robotics and Automation, ICRA 2010. Anchorage (Alaska), USA, 2010. S. 656-661 5509982 (Proceedings - IEEE International Conference on Robotics and Automation).
Publikation: Beitrag in Buch/Bericht/Sammelwerk/Konferenzband › Aufsatz in Konferenzband › Forschung › Peer-Review
}
TY - GEN
T1 - Optimization strategies for additional actuators of kinematically redundant parallel kinematic machines
AU - Kotlarski, Jens
AU - Do Thanh, Trung
AU - Heimann, Bodo
AU - Ortmaier, Tobias
PY - 2010
Y1 - 2010
N2 - In this paper five different optimization strategies for kinematically redundant mechanisms, i.e. mechanisms having additional actuator(s) in at least one kinematic chain, are presented. They are based on two main approaches, a discrete optimization and a classical continuous optimization. Exemplarily, a planar, kinematically redundant 3RRR-based mechanism is introduced. The position of its redundant actuator, i.e. the robot geometry, is optimized according to an optimization criterion that is denoted as the gain of the maximal homogenized pose error. Several analysis examples demonstrate the effectiveness of kinematic redundancy with respect to the introduced optimization procedures. It is shown that in comparison to discrete approaches, classical continuous-based optimization strategies do not necessarily lead to more appropriate results in terms of performance improvement.
AB - In this paper five different optimization strategies for kinematically redundant mechanisms, i.e. mechanisms having additional actuator(s) in at least one kinematic chain, are presented. They are based on two main approaches, a discrete optimization and a classical continuous optimization. Exemplarily, a planar, kinematically redundant 3RRR-based mechanism is introduced. The position of its redundant actuator, i.e. the robot geometry, is optimized according to an optimization criterion that is denoted as the gain of the maximal homogenized pose error. Several analysis examples demonstrate the effectiveness of kinematic redundancy with respect to the introduced optimization procedures. It is shown that in comparison to discrete approaches, classical continuous-based optimization strategies do not necessarily lead to more appropriate results in terms of performance improvement.
UR - http://www.scopus.com/inward/record.url?scp=77955783934&partnerID=8YFLogxK
U2 - 10.1109/ROBOT.2010.5509982
DO - 10.1109/ROBOT.2010.5509982
M3 - Conference contribution
AN - SCOPUS:77955783934
SN - 9781424450381
T3 - Proceedings - IEEE International Conference on Robotics and Automation
SP - 656
EP - 661
BT - 2010 IEEE International Conference on Robotics and Automation, ICRA 2010
CY - Anchorage (Alaska), USA
T2 - 2010 IEEE International Conference on Robotics and Automation, ICRA 2010
Y2 - 3 May 2010 through 7 May 2010
ER -