Resolution of Functional Redundancy for 3T2R Robot Tasks using Two Sets of Reciprocal Euler Angles

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OriginalspracheEnglisch
Titel des SammelwerksAdvances in Mechanism and Machine Science
UntertitelProceedings of the 15th IFToMM World Congress on Mechanism and Machine Science
ErscheinungsortCham
Seiten1701-1710
Seitenumfang10
ISBN (elektronisch)978-3-030-20131-9
PublikationsstatusVeröffentlicht - 14 Juni 2019

Publikationsreihe

NameMechanisms and Machine Science
ISSN (Print)2211-0984

Abstract

Robotic tasks like welding or drilling with three translational and only two rotational degrees of freedom (“3T2R”) are of high industrial relevance but are rather scarcely addressed in scientific publications. Existing solutions for the resolution of the functional redundancy of robotic manipulators with more than five axes performing these tasks either expand the full kinematic formulation or reduce it in intermediate steps. This paper presents an approach to reduce the kinematic formulation from the start to solve the problem in a simpler way. This is done by using a set of reciprocal Euler angles to describe the end-effector orientation and the orientation error in inverse kinematics.

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Resolution of Functional Redundancy for 3T2R Robot Tasks using Two Sets of Reciprocal Euler Angles. / Schappler, Moritz; Tappe, Svenja; Ortmaier, Tobias.
Advances in Mechanism and Machine Science: Proceedings of the 15th IFToMM World Congress on Mechanism and Machine Science. Cham, 2019. S. 1701-1710 (Mechanisms and Machine Science).

Publikation: Beitrag in Buch/Bericht/Sammelwerk/KonferenzbandAufsatz in KonferenzbandForschungPeer-Review

Schappler, M, Tappe, S & Ortmaier, T 2019, Resolution of Functional Redundancy for 3T2R Robot Tasks using Two Sets of Reciprocal Euler Angles. in Advances in Mechanism and Machine Science: Proceedings of the 15th IFToMM World Congress on Mechanism and Machine Science. Mechanisms and Machine Science, Cham, S. 1701-1710. https://doi.org/10.15488/10210, https://doi.org/10.1007/978-3-030-20131-9_168
Schappler, M., Tappe, S., & Ortmaier, T. (2019). Resolution of Functional Redundancy for 3T2R Robot Tasks using Two Sets of Reciprocal Euler Angles. In Advances in Mechanism and Machine Science: Proceedings of the 15th IFToMM World Congress on Mechanism and Machine Science (S. 1701-1710). (Mechanisms and Machine Science).. https://doi.org/10.15488/10210, https://doi.org/10.1007/978-3-030-20131-9_168
Schappler M, Tappe S, Ortmaier T. Resolution of Functional Redundancy for 3T2R Robot Tasks using Two Sets of Reciprocal Euler Angles. in Advances in Mechanism and Machine Science: Proceedings of the 15th IFToMM World Congress on Mechanism and Machine Science. Cham. 2019. S. 1701-1710. (Mechanisms and Machine Science). doi: 10.15488/10210, 10.1007/978-3-030-20131-9_168
Schappler, Moritz ; Tappe, Svenja ; Ortmaier, Tobias. / Resolution of Functional Redundancy for 3T2R Robot Tasks using Two Sets of Reciprocal Euler Angles. Advances in Mechanism and Machine Science: Proceedings of the 15th IFToMM World Congress on Mechanism and Machine Science. Cham, 2019. S. 1701-1710 (Mechanisms and Machine Science).
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