Using Cartesian space for manipulator motion planning: application in service robotics
Gespeichert in:
| 1. Verfasser: | |
|---|---|
| Format: | Abschlussarbeit Buch |
| Sprache: | English |
| Veröffentlicht: |
Aachen
Shaker
2009
|
| Schriftenreihe: | Publication series of the Institute of Automation, University of Bremen
Series 3 ; 2 |
| Schlagworte: | |
| Online-Zugang: | Inhaltsverzeichnis |
| Beschreibung: | XIV, 118 S. Ill., graph. Darst. 21 cm, 198 gr. |
| ISBN: | 9783832281762 |
Internformat
MARC
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| 100 | 1 | |a Ojdanić, Darko |e Verfasser |0 (DE-588)138579563 |4 aut | |
| 245 | 1 | 0 | |a Using Cartesian space for manipulator motion planning |b application in service robotics |c Darko Ojdanić |
| 264 | 1 | |a Aachen |b Shaker |c 2009 | |
| 300 | |a XIV, 118 S. |b Ill., graph. Darst. |c 21 cm, 198 gr. | ||
| 336 | |b txt |2 rdacontent | ||
| 337 | |b n |2 rdamedia | ||
| 338 | |b nc |2 rdacarrier | ||
| 490 | 1 | |a Publication series of the Institute of Automation, University of Bremen : Series 3 |v 2 | |
| 502 | |a Zugl.: Bremen, Univ., Diss., 2009 | ||
| 650 | 4 | |a Serviceroboter - Manipulator - Bahnplanung - Kartesische Koordinaten | |
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| 999 | |a oai:aleph.bib-bvb.de:BVB01-018710178 | ||
Datensatz im Suchindex
| _version_ | 1804140826191724544 |
|---|---|
| adam_text | CONTENTS 1 INTRODUCTION 1 1.1 DEAR ROBOT, PREPARE MEAL FOR SIX PERSONS,
WE HAVE A VISIT 1 1.2 THESIS GOAL AND APPROACH 1 1.3 OVERVIEW 2 1.4
CONTRIBUTIONS 3 2 STATE OF THE ART IN MOTION PLANNING 5 2.1 INTRODUCTION
TO CONFIGURATION SPACE 5 2.2 MOTION PLANNING CATEGORIES 6 2.3 CELL
DECOMPOSITION 7 2.4 POTENTIAL FIELDS 9 2.5 PROBABILISTIC ROADMAP METHOD
(PRM) 9 2.6 RAPIDLY EXPLORING RANDOM TREES (RRT) 10 2.7 USING CARTESIAN
SPACE 10 2.7.1 POTENTIAL FIELDS IN WORKSPACE 11 2.7.2 AMROSE PLANNER 11
2.7.3 USING MEDIAN AXIS 11 2.7.4 RRT WITH WORKSPACE CRITERION 12 2.8
OTHER APPROACHES 12 2.9 CONCLUSION 12 3 TECHNICAL BACKGROUND 13 3.1
HOMOGENEOUS TRANSFORMATION 13 3.2 REHABILITATION ROBOTIC SYSTEMS FRIEND
16 3.3 COLLISION CALCULATION 18 3.4 INVERSE KINEMATICS 20 3.4.1 GOAL
DEFINITION IN MOTION PLANNING TASKS 21 3.4.2 SINGULARITIES 22 4
GOAL-SEEKING MOTION PLANNER 25 4.1 INTRODUCTION 25 4.2 PLANNING
ALGORITHM 25 4.2.1 MAIN ALGORITHM FLOW 25 4.2.2 GENERATION OF NEXT TCP
FRAMES 29 4.2.3 CRITERIA FOR CONFIGURATION SELECTION 33 4.2.4 PARALLEL
COMPUTING 35 4.3 NEGLECTING DISTANT OBSTACLES 35 4.3.1 INTRODUCTION 35
4.3.2 USING WORKSPACE FOR NEGLECTING DISTANT OBSTACLES 36 4.4 RESULTS 37
4.4. BIBLIOGRAFISCHE INFORMATIONEN HTTP://D-NB.INFO/994279388
DIGITALISIERT DURCH CONTENTS 4.4.2 7 DOF MANIPULATOR 39 4.5 EXTENSION
FOR THE CYLINDRICAL TARGET OBJECT 44 4.6 CONCLUSION 45 5 INCREMENTAL
CELL-DECOMPOSITION PLANNER 47 5.1 INTRODUCTION 47 5.2 INTRODUCTION TO
GRAPH SEARCH 48 5.3 PLANNER DESCRIPTION 50 5.3.1 THE MAIN ALGORITHM 50
5.3.2 COST CALCULATION 53 5.3.3 3D IMPLEMENTATION 55 5.3.4 USING
DIFFERENT DISTANCE METRICS 56 5.3.5 ADDING MORE ORIENTATIONS 57 5.4
RESULTS 58 5.5 ADAPTIVE VERSION 62 5.6 FUSION WITH THE GOAL-SEEKING
PLANNER 63 5.6.1 RESULTS 64 5.7 RRT IN CARTESIAN SPACE 66 5.7.1 PLANNER
DESCRIPTION 67 5.7.2 RESULTS 69 5.8 CONCLUSION 70 6 IMPROVING PLANNED
PATH 71 6.1 INTRODUCTION 71 6.2 PRUNING 71 6.3 MOVING AVERAGE FILTER 73
6.4 IMPROVING CLEARANCE 74 6.4.1 INTRODUCTION 74 6.4.2 USING WORKSPACE
INFORMATION 75 6.4.3 CLEARANCE EVALUATION 76 6.5 COMBINING PRUNING AND
CLEARANCE IMPROVEMENT 77 6.6 RESULTS 78 6.7 CONCLUSION 82 7 COMPARISON
WITH STATE-OF-THE-ART PLANNERS 83 7.1 INTRODUCTION 83 7.2 COMPARISON
WITH PROBABILISTIC ROADMAP METHOD 84 7.2.1 INTRODUCTION TO PRM 84 7.2.2
IMPLEMENTATION ISSUES 85 7.2.3 TESTS EVALUATION 85 7.3 COMPARISON WITH
RAPIDLY EXPLORING RANDOM TREES 86 7.3.1 STANDARD RRT 86 7.3.2 RRT WITH
WORKSPACE CRITERION 89 7. CONTENTS 8.1.2 MANAGING ENVIRONMENT MODEL DATA
92 8.1.3 MANIPULATIVE TASKS IN PRACTICE 94 8.2 SIMULATING SEQUENCES OF
MANIPULATIVE TASKS 97 8.3 WORKSPACE ANALYSIS 98 8.4 CONCLUSION 99 9
CONCLUSION 101 9.1 MOTION PLANNING ALGORITHMS 101 9.2 EVALUATION 102 9.3
OUTLOOK 102 BIBLIOGRAPHY 105 A MASSIVE - CONCEPT OVERVIEW 115 B UML
DIAGRAM OF THE MOTION PLANNERS 117 C LIST OF ABBREVIATIONS 118 PAGE IX
|
| any_adam_object | 1 |
| author | Ojdanić, Darko |
| author_GND | (DE-588)138579563 |
| author_facet | Ojdanić, Darko |
| author_role | aut |
| author_sort | Ojdanić, Darko |
| author_variant | d o do |
| building | Verbundindex |
| bvnumber | BV035852159 |
| classification_rvk | ZQ 6230 |
| ctrlnum | (OCoLC)427645792 (DE-599)DNB994279388 |
| dewey-full | 629.8933 |
| dewey-hundreds | 600 - Technology (Applied sciences) |
| dewey-ones | 629 - Other branches of engineering |
| dewey-raw | 629.8933 |
| dewey-search | 629.8933 |
| dewey-sort | 3629.8933 |
| dewey-tens | 620 - Engineering and allied operations |
| discipline | Maschinenbau / Maschinenwesen Mess-/Steuerungs-/Regelungs-/Automatisierungstechnik / Mechatronik |
| format | Thesis Book |
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| id | DE-604.BV035852159 |
| illustrated | Illustrated |
| indexdate | 2024-07-09T22:06:09Z |
| institution | BVB |
| isbn | 9783832281762 |
| language | English |
| oai_aleph_id | oai:aleph.bib-bvb.de:BVB01-018710178 |
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| physical | XIV, 118 S. Ill., graph. Darst. 21 cm, 198 gr. |
| publishDate | 2009 |
| publishDateSearch | 2009 |
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| publisher | Shaker |
| record_format | marc |
| series | Publication series of the Institute of Automation, University of Bremen |
| series2 | Publication series of the Institute of Automation, University of Bremen : Series 3 |
| spelling | Ojdanić, Darko Verfasser (DE-588)138579563 aut Using Cartesian space for manipulator motion planning application in service robotics Darko Ojdanić Aachen Shaker 2009 XIV, 118 S. Ill., graph. Darst. 21 cm, 198 gr. txt rdacontent n rdamedia nc rdacarrier Publication series of the Institute of Automation, University of Bremen : Series 3 2 Zugl.: Bremen, Univ., Diss., 2009 Serviceroboter - Manipulator - Bahnplanung - Kartesische Koordinaten Serviceroboter (DE-588)4396128-9 gnd rswk-swf Manipulator (DE-588)4037349-6 gnd rswk-swf Kartesische Koordinaten (DE-588)4370913-8 gnd rswk-swf Bahnplanung (DE-588)4267628-9 gnd rswk-swf (DE-588)4113937-9 Hochschulschrift gnd-content Serviceroboter (DE-588)4396128-9 s Manipulator (DE-588)4037349-6 s Bahnplanung (DE-588)4267628-9 s Kartesische Koordinaten (DE-588)4370913-8 s DE-604 Publication series of the Institute of Automation, University of Bremen Series 3 ; 2 (DE-604)BV035111170 2 DNB Datenaustausch application/pdf http://bvbr.bib-bvb.de:8991/F?func=service&doc_library=BVB01&local_base=BVB01&doc_number=018710178&sequence=000001&line_number=0001&func_code=DB_RECORDS&service_type=MEDIA Inhaltsverzeichnis |
| spellingShingle | Ojdanić, Darko Using Cartesian space for manipulator motion planning application in service robotics Publication series of the Institute of Automation, University of Bremen Serviceroboter - Manipulator - Bahnplanung - Kartesische Koordinaten Serviceroboter (DE-588)4396128-9 gnd Manipulator (DE-588)4037349-6 gnd Kartesische Koordinaten (DE-588)4370913-8 gnd Bahnplanung (DE-588)4267628-9 gnd |
| subject_GND | (DE-588)4396128-9 (DE-588)4037349-6 (DE-588)4370913-8 (DE-588)4267628-9 (DE-588)4113937-9 |
| title | Using Cartesian space for manipulator motion planning application in service robotics |
| title_auth | Using Cartesian space for manipulator motion planning application in service robotics |
| title_exact_search | Using Cartesian space for manipulator motion planning application in service robotics |
| title_full | Using Cartesian space for manipulator motion planning application in service robotics Darko Ojdanić |
| title_fullStr | Using Cartesian space for manipulator motion planning application in service robotics Darko Ojdanić |
| title_full_unstemmed | Using Cartesian space for manipulator motion planning application in service robotics Darko Ojdanić |
| title_short | Using Cartesian space for manipulator motion planning |
| title_sort | using cartesian space for manipulator motion planning application in service robotics |
| title_sub | application in service robotics |
| topic | Serviceroboter - Manipulator - Bahnplanung - Kartesische Koordinaten Serviceroboter (DE-588)4396128-9 gnd Manipulator (DE-588)4037349-6 gnd Kartesische Koordinaten (DE-588)4370913-8 gnd Bahnplanung (DE-588)4267628-9 gnd |
| topic_facet | Serviceroboter - Manipulator - Bahnplanung - Kartesische Koordinaten Serviceroboter Manipulator Kartesische Koordinaten Bahnplanung Hochschulschrift |
| url | http://bvbr.bib-bvb.de:8991/F?func=service&doc_library=BVB01&local_base=BVB01&doc_number=018710178&sequence=000001&line_number=0001&func_code=DB_RECORDS&service_type=MEDIA |
| volume_link | (DE-604)BV035111170 |
| work_keys_str_mv | AT ojdanicdarko usingcartesianspaceformanipulatormotionplanningapplicationinservicerobotics |