Details
| Originalsprache | Englisch |
|---|---|
| Titel des Sammelwerks | Springer Tracts in Advanced Robotics |
| Herausgeber (Verlag) | Springer Verlag |
| Seiten | 315-331 |
| Seitenumfang | 17 |
| Band | 67 |
| Publikationsstatus | Veröffentlicht - 1 Jan. 2011 |
| Extern publiziert | Ja |
Publikationsreihe
| Name | Springer Tracts in Advanced Robotics |
|---|---|
| Band | 67 |
| ISSN (Print) | 1610-7438 |
| ISSN (elektronisch) | 1610-742X |
Abstract
The design of powerful control that suits multiple types of parallel kinematic robots is extraordinarily challenging. The diversity of parallel kinematics and their optimization that customizes them to specific tasks require highly individualized control functionalities. This work intends to provide principles, methods and tools for the development of such control software. It aims at the time-efficient realization of custom robot controllers that suit particular application domains and use hardware resources as sophisticated as possible. A task-frame formalism for trajectory generation is defined exploiting the full potential of parallel robots. This formalism can be used as a generic programming interface for parallel robots. Design patterns for so-called active connectors, modular motion planning, sensor integration and restricted state machines in token-passing context are discussed with regard to control of parallel robots. RCA562, a control application for parallel robots incorporating this knowledge, serves as an illustrative validation example.
ASJC Scopus Sachgebiete
- Ingenieurwesen (insg.)
- Elektrotechnik und Elektronik
- Informatik (insg.)
- Artificial intelligence
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Springer Tracts in Advanced Robotics. Band 67 Springer Verlag, 2011. S. 315-331 (Springer Tracts in Advanced Robotics; Band 67).
Publikation: Beitrag in Buch/Bericht/Sammelwerk/Konferenzband › Beitrag in Buch/Sammelwerk › Forschung › Peer-Review
}
TY - CHAP
T1 - RCA562
T2 - Control architecture for parallel kinematic robots
AU - Dietrich, Franz
AU - Maaß, Jochen
AU - Raatz, Annika
AU - Hesselbach, Jürgen
N1 - Funding information:. The authors wish to thank the German Research Foundation (DFG) for the support of this work. Also, the authors are grateful for the work of Nicky Gerritsen und Jeroen Veldhuis (LaQuSo), who evaluated the quality of the code of RCA562.
PY - 2011/1/1
Y1 - 2011/1/1
N2 - The design of powerful control that suits multiple types of parallel kinematic robots is extraordinarily challenging. The diversity of parallel kinematics and their optimization that customizes them to specific tasks require highly individualized control functionalities. This work intends to provide principles, methods and tools for the development of such control software. It aims at the time-efficient realization of custom robot controllers that suit particular application domains and use hardware resources as sophisticated as possible. A task-frame formalism for trajectory generation is defined exploiting the full potential of parallel robots. This formalism can be used as a generic programming interface for parallel robots. Design patterns for so-called active connectors, modular motion planning, sensor integration and restricted state machines in token-passing context are discussed with regard to control of parallel robots. RCA562, a control application for parallel robots incorporating this knowledge, serves as an illustrative validation example.
AB - The design of powerful control that suits multiple types of parallel kinematic robots is extraordinarily challenging. The diversity of parallel kinematics and their optimization that customizes them to specific tasks require highly individualized control functionalities. This work intends to provide principles, methods and tools for the development of such control software. It aims at the time-efficient realization of custom robot controllers that suit particular application domains and use hardware resources as sophisticated as possible. A task-frame formalism for trajectory generation is defined exploiting the full potential of parallel robots. This formalism can be used as a generic programming interface for parallel robots. Design patterns for so-called active connectors, modular motion planning, sensor integration and restricted state machines in token-passing context are discussed with regard to control of parallel robots. RCA562, a control application for parallel robots incorporating this knowledge, serves as an illustrative validation example.
UR - http://www.scopus.com/inward/record.url?scp=85030756882&partnerID=8YFLogxK
U2 - 10.1007/978-3-642-16785-0_18
DO - 10.1007/978-3-642-16785-0_18
M3 - Contribution to book/anthology
AN - SCOPUS:85030756882
VL - 67
T3 - Springer Tracts in Advanced Robotics
SP - 315
EP - 331
BT - Springer Tracts in Advanced Robotics
PB - Springer Verlag
ER -