Details
| Original language | English |
|---|---|
| Title of host publication | 2008 IEEE International Conference on Robotics and Automation, ICRA 2008 |
| Pages | 1568-1575 |
| Number of pages | 8 |
| Publication status | Published - 18 Sept 2008 |
| Externally published | Yes |
| Event | 2008 IEEE International Conference on Robotics and Automation, ICRA 2008 - Pasadena, CA, United States Duration: 19 May 2008 → 23 May 2008 |
Publication series
| Name | Proceedings - IEEE International Conference on Robotics and Automation |
|---|---|
| ISSN (Print) | 1050-4729 |
Abstract
Robots based on parallel kinematic structures are known to have a small workspace compared to their installation space. To tackle this drawback a workspace enlargement approach using several workspaces going along with different working and assembly modes has been introduced in earlier publications. Robot structures designed for this approach are able to change their assembly modes. Using the drives' position feedback systems these assembly modes cannot be distinguished, which is necessary at least after startup of the robot control to correctly solve the structure's kinematic models. In this paper different approaches for a detection of the actual assembly mode of a kinematic structure are presented. Using the example of a Triglide-robot one of the approaches is demonstrated in more detail. It is based on a comparison of measured drive forces, necessary to hold the structure against gravity, with theoretical holding forces, calculated for all possible assembly modes. Experimental results show the effectiveness of the approach.
ASJC Scopus subject areas
- Computer Science(all)
- Software
- Engineering(all)
- Control and Systems Engineering
- Computer Science(all)
- Artificial Intelligence
- Engineering(all)
- Electrical and Electronic Engineering
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2008 IEEE International Conference on Robotics and Automation, ICRA 2008. 2008. p. 1568-1575 4543425 (Proceedings - IEEE International Conference on Robotics and Automation).
Research output: Chapter in book/report/conference proceeding › Conference contribution › Research › peer review
}
TY - GEN
T1 - Automatic detection of assembly mode for a Triglide-robot
AU - Budde, Christoph
AU - Rose, Marcus
AU - Maaß, Jochen
AU - Raatz, Annika
PY - 2008/9/18
Y1 - 2008/9/18
N2 - Robots based on parallel kinematic structures are known to have a small workspace compared to their installation space. To tackle this drawback a workspace enlargement approach using several workspaces going along with different working and assembly modes has been introduced in earlier publications. Robot structures designed for this approach are able to change their assembly modes. Using the drives' position feedback systems these assembly modes cannot be distinguished, which is necessary at least after startup of the robot control to correctly solve the structure's kinematic models. In this paper different approaches for a detection of the actual assembly mode of a kinematic structure are presented. Using the example of a Triglide-robot one of the approaches is demonstrated in more detail. It is based on a comparison of measured drive forces, necessary to hold the structure against gravity, with theoretical holding forces, calculated for all possible assembly modes. Experimental results show the effectiveness of the approach.
AB - Robots based on parallel kinematic structures are known to have a small workspace compared to their installation space. To tackle this drawback a workspace enlargement approach using several workspaces going along with different working and assembly modes has been introduced in earlier publications. Robot structures designed for this approach are able to change their assembly modes. Using the drives' position feedback systems these assembly modes cannot be distinguished, which is necessary at least after startup of the robot control to correctly solve the structure's kinematic models. In this paper different approaches for a detection of the actual assembly mode of a kinematic structure are presented. Using the example of a Triglide-robot one of the approaches is demonstrated in more detail. It is based on a comparison of measured drive forces, necessary to hold the structure against gravity, with theoretical holding forces, calculated for all possible assembly modes. Experimental results show the effectiveness of the approach.
UR - http://www.scopus.com/inward/record.url?scp=51649083860&partnerID=8YFLogxK
U2 - 10.1109/ROBOT.2008.4543425
DO - 10.1109/ROBOT.2008.4543425
M3 - Conference contribution
AN - SCOPUS:51649083860
SN - 9781424416479
T3 - Proceedings - IEEE International Conference on Robotics and Automation
SP - 1568
EP - 1575
BT - 2008 IEEE International Conference on Robotics and Automation, ICRA 2008
T2 - 2008 IEEE International Conference on Robotics and Automation, ICRA 2008
Y2 - 19 May 2008 through 23 May 2008
ER -