Advances in Robotics Research: Theory, Implementation, by Klaas Klasing, Dirk Wollherr, Martin Buss (auth.), Torsten

By Klaas Klasing, Dirk Wollherr, Martin Buss (auth.), Torsten Kröger, Friedrich M. Wahl (eds.)

The German Workshop on Robotics is a tradition of roboticists from academia and engaged on mathematical and algorithmic foundations of robotics, at the layout and research of robot structures in addition to on robot functions. chosen contributions from researchers in German-speaking nations in addition to from the overseas robotics group compose this quantity. The papers are geared up in ten clinical tracks: Kinematic and Dynamic Modeling, movement new release, Sensor Integration, robotic imaginative and prescient, robotic Programming, Humanoid Robots, greedy, clinical Robotics, self reliant Helicopters, and robotic Applications.

Due to an intensive evaluate and dialogue strategy, this number of clinical contributions is of very excessive quality and can provide to strongly impact destiny robot examine activities.

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Extra resources for Advances in Robotics Research: Theory, Implementation, Application

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Note that the factorization in Equation (5) is valid even for an arbitrary order of the joints. 3 Path Planning With the methods described above, we can infer joint conf gurations that move the robot arm to previously un-encountered target positions. The data stored in the kinematic database S implicitly encodes information about the robot itself and the surroundings, as it contains only samples from accessible, obstacle-free regions both in configuratio space and world space. In the following, we present a planning method based on probabilistic roadmaps [7].

1c). The objective of this article is to formulate general guidelines for the development of dynamically balanced machinery that have a minimum of additional mass and a minimum of additional inertia, based on the literature cited above. e. the space that is available for the balancing elements, is taken into account, since in practise this often has a considerable inf uence on the performance. There is a difference between the inertia of an element and the inertia of the mechanism. This paper deals with the minimization of the inertia of the mechanism, which is represented by the reduced inertia as defi ed in [8].

2. There are various ways to apply the CRCM principle to a double pendulum, for instance by simply stacking two CRCM-balanced links with the conf guration of Fig. 1b. a) b) l k * m* I* l l q O’ m I l q m I q * * q O O m* I* q m* I* O’’’ * l q O’’ * l l c) O m* I* l m* I* m I q * q* k m*CI I*CI Fig. 1 General balancing principles, balancing by using (a) Duplicate Mechanisms (DM), (b) Counter-Rotary Counter-Masses (CRCM) and (c) Counter-Masses and Separate CounterInertias (SCI) (source [13]). 24 V.

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