Online motion planning for dual arm industrial robots:
Saved in:
| Main Author: | |
|---|---|
| Format: | Thesis Book |
| Language: | English |
| Published: |
Stuttgart
FRAUNHOFER VERLAG
[2020]
|
| Series: | Stuttgarter Beiträge zur Produktionsforschung
Band 98 |
| Subjects: | |
| Online Access: | Inhaltstext Inhaltsverzeichnis |
| Physical Description: | XIII, 126 Seiten Illustrationen, Diagramme 21 cm x 14.8 cm |
| ISBN: | 9783839615614 3839615615 |
Staff View
MARC
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| 100 | 1 | |a Beuke, Felix |e Verfasser |0 (DE-588)1206897856 |4 aut | |
| 245 | 1 | 0 | |a Online motion planning for dual arm industrial robots |c Felix Beuke |
| 264 | 1 | |a Stuttgart |b FRAUNHOFER VERLAG |c [2020] | |
| 300 | |a XIII, 126 Seiten |b Illustrationen, Diagramme |c 21 cm x 14.8 cm | ||
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| 490 | 0 | |a Stuttgarter Beiträge zur Produktionsforschung |v Band 98 | |
| 502 | |b Dissertation |c Universität Stuttgart |d 2019 | ||
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| 650 | 0 | 7 | |a Robotik |0 (DE-588)4261462-4 |2 gnd |9 rswk-swf |
| 653 | |a Dual Arm Robots | ||
| 653 | |a Industrial Robots | ||
| 653 | |a Motion Planning | ||
| 653 | |a Autonomous Systems | ||
| 653 | |a Algorithms | ||
| 653 | |a Ingenieure aus den Bereichen Forschung, Automatisierungstechnik undProduktionstechnik | ||
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Record in the Search Index
| _version_ | 1804184878246264832 |
|---|---|
| adam_text | CONTENTS
KURZINHALT
III
SHORT
SUMMARY
V
LIST
OF
FIGURES
XI
LIST
OF
TABLES
XIII
1
INTRODUCTION
1
1.1
THE
FACTORY:
A
HIGH-SECURITY
PRISON
FOR
ROBOTS
...........................................................
1
1.2
MOTIVATION
........................................................................................................................
2
1.2.1
TECHNOLOGICAL
PUSH
.............................................................................................
2
1.2.2
ECONOMICAL
PULL
...................................................................................................
3
1.3
PROBLEM
DEFINITION
......................................................................................................
3
1.4
SOLUTION
PROPOSAL
AND
CONTRIBUTION
..........................................................................
5
1.5
OUTLINE
...........................................................................................................................
6
2
FOUNDATIONS
7
2.1
KINEMATICS
...................................................................................................................
7
2.1.1
REPRESENTING
POSITION
....................................................................................
8
2.1.2
REPRESENTING
ROTATION
....................................................................................
8
2.1.3
EULER
ANGLES
......................................................................................................
10
2.1.4
HOMOGENEOUS
TRANSFORMATIONS
.......................................................................
10
2.2
KINEMATIC
CHAINS
..........................................................................................................
11
2.2.1
D-H
PARAMETERS
...............................................................................................
12
2.2.2
WORKSPACE,
CONFIGURATION
SPACE
AND
FORWARD
KINEMATICS
.......................
13
2.2.3
INVERSE
KINEMATICS
(IK)
................................................................................
15
2.3
ROBOT
MOTION:
PATHS
AND
TRAJECTORIES
........................................................................
18
3
STATE
OF
THE
ART
21
3.1
TEACHING
ROBOT
APPLICATIONS
....................................................................................
21
3.1.1
ROBOT
PROGRAMMING
LANGUAGES
....................................................................
21
VII
3.1.2
ONLINE
PROGRAMMING
........................................................................................
25
3.1.3
OFFLINE
PROGRAMMING
........................................................................................
27
3.2
MOTION
PLANNING
..........................................................................................................
29
3.2.1
PATH
PLANNING
.................................................................................................
29
3.2.2
SAMPLING-BASED
PATH
PLANNING
........................................................................
31
3.2.3
ARTIFICIAL
POTENTIAL
FIELDS
..................................................................................
35
3.3
COORDINATION
OF
MULTIPLE
INDUSTRIAL
ROBOTS
.............................................................
38
3.3.1
DUAL-ARM
COORDINATION
IN
INDUSTRIAL
APPLICATIONS
.........................................
39
3.3.2
DUAL-ARM
COORDINATION
IN
ACADEMIC
RESEARCH
...............................................
41
4
RESPONSIVE
COORDINATION
FOR
INDUSTRIAL
MANIPULATOR
SYSTEMS
47
4.1
INTRODUCTION
..................................................................................................................
47
4.2
REQUIREMENTS
FOR
INDUSTRIAL
APPLICATIONS
................................................................
50
4.3
CENTRALIZED
COORDINATION
PLANNING
..........................................................................
52
4.4
DECOUPLED
COORDINATION
PLANNING
-
SYSTEM
ARCHITECTURE
.....................................
53
4.4.1
ARCHITECTURE
PARADIGMS
.................................................................................
53
4.4.2
R&R
SYSTEM
ARCHITECTURE
..............................................................................
55
4.4.3
THREADING
..........................................................................................................
58
4.5
COMPONENTS
OF
THE
DEMONSTRATOR
SYSTEM
................................................................
58
4.5.1
3D
SENSOR
..........................................................................................................
59
4.5.2
BEHAVIOR
GENERATION
........................................................................................
60
4.5.3
PATH
AND
TRAJECTORY
PLANNING
........................................................................
63
4.5.4
ROBOTIC
DEMONSTRATOR
SETUP
...........................................................................
67
4.6
ACHIEVING
RESPONSIVE
AND
REACTIVE
COORDINATION
....................................................
71
4.6.1
MOTION
COMMAND
INTERFACE
...........................................................................
71
4.6.2
OFFLINE
COORDINATION
........................................................................................
75
4.6.3
ONLINE
COORDINATION
........................................................................................
86
4.6.4
COORDINATION
LAW
GENERATOR
........................................................................
87
4.6.5
ROBOT
COMMAND
GENERATOR
...........................................................................
90
4.7
INTER-THREAD
COMMUNICATION
...................................................................................
91
4.8
REPLANNING
..................................................................................................................
93
4.8.1
R&R
COORDINATOR
THREAD-SYNCHRONIZED
WORKFLOW
EXAMPLE
..........................
94
4.9
RESOLVING
DEADLOCKS
..................................................................................................
95
5
EVALUATION
99
5.1
RESPONSIVENESS
............................................................................................................
99
5.2
REACTIVENESS
....................................................................................................................
100
VIII
5.3
COMPARISON
WITH
TASK-SPACE
BASED
ZONES
....................................................................
102
5.3.1
MANUAL
COORDINATION
APPROACH
........................................................................
102
5.3.2
EXPERIMENTAL
RESULTS
.........................................................................................
103
5.4
DEADLOCK
AVOIDANCE
........................................................................................................
105
6
CONCLUSION
AND
OUTLOOK
107
BIBLIOGRAPHY
109
IX
|
| adam_txt |
CONTENTS
KURZINHALT
III
SHORT
SUMMARY
V
LIST
OF
FIGURES
XI
LIST
OF
TABLES
XIII
1
INTRODUCTION
1
1.1
THE
FACTORY:
A
HIGH-SECURITY
PRISON
FOR
ROBOTS
.
1
1.2
MOTIVATION
.
2
1.2.1
TECHNOLOGICAL
PUSH
.
2
1.2.2
ECONOMICAL
PULL
.
3
1.3
PROBLEM
DEFINITION
.
3
1.4
SOLUTION
PROPOSAL
AND
CONTRIBUTION
.
5
1.5
OUTLINE
.
6
2
FOUNDATIONS
7
2.1
KINEMATICS
.
7
2.1.1
REPRESENTING
POSITION
.
8
2.1.2
REPRESENTING
ROTATION
.
8
2.1.3
EULER
ANGLES
.
10
2.1.4
HOMOGENEOUS
TRANSFORMATIONS
.
10
2.2
KINEMATIC
CHAINS
.
11
2.2.1
D-H
PARAMETERS
.
12
2.2.2
WORKSPACE,
CONFIGURATION
SPACE
AND
FORWARD
KINEMATICS
.
13
2.2.3
INVERSE
KINEMATICS
(IK)
.
15
2.3
ROBOT
MOTION:
PATHS
AND
TRAJECTORIES
.
18
3
STATE
OF
THE
ART
21
3.1
TEACHING
ROBOT
APPLICATIONS
.
21
3.1.1
ROBOT
PROGRAMMING
LANGUAGES
.
21
VII
3.1.2
ONLINE
PROGRAMMING
.
25
3.1.3
OFFLINE
PROGRAMMING
.
27
3.2
MOTION
PLANNING
.
29
3.2.1
PATH
PLANNING
.
29
3.2.2
SAMPLING-BASED
PATH
PLANNING
.
31
3.2.3
ARTIFICIAL
POTENTIAL
FIELDS
.
35
3.3
COORDINATION
OF
MULTIPLE
INDUSTRIAL
ROBOTS
.
38
3.3.1
DUAL-ARM
COORDINATION
IN
INDUSTRIAL
APPLICATIONS
.
39
3.3.2
DUAL-ARM
COORDINATION
IN
ACADEMIC
RESEARCH
.
41
4
RESPONSIVE
COORDINATION
FOR
INDUSTRIAL
MANIPULATOR
SYSTEMS
47
4.1
INTRODUCTION
.
47
4.2
REQUIREMENTS
FOR
INDUSTRIAL
APPLICATIONS
.
50
4.3
CENTRALIZED
COORDINATION
PLANNING
.
52
4.4
DECOUPLED
COORDINATION
PLANNING
-
SYSTEM
ARCHITECTURE
.
53
4.4.1
ARCHITECTURE
PARADIGMS
.
53
4.4.2
R&R
SYSTEM
ARCHITECTURE
.
55
4.4.3
THREADING
.
58
4.5
COMPONENTS
OF
THE
DEMONSTRATOR
SYSTEM
.
58
4.5.1
3D
SENSOR
.
59
4.5.2
BEHAVIOR
GENERATION
.
60
4.5.3
PATH
AND
TRAJECTORY
PLANNING
.
63
4.5.4
ROBOTIC
DEMONSTRATOR
SETUP
.
67
4.6
ACHIEVING
RESPONSIVE
AND
REACTIVE
COORDINATION
.
71
4.6.1
MOTION
COMMAND
INTERFACE
.
71
4.6.2
OFFLINE
COORDINATION
.
75
4.6.3
ONLINE
COORDINATION
.
86
4.6.4
COORDINATION
LAW
GENERATOR
.
87
4.6.5
ROBOT
COMMAND
GENERATOR
.
90
4.7
INTER-THREAD
COMMUNICATION
.
91
4.8
REPLANNING
.
93
4.8.1
R&R
COORDINATOR
THREAD-SYNCHRONIZED
WORKFLOW
EXAMPLE
.
94
4.9
RESOLVING
DEADLOCKS
.
95
5
EVALUATION
99
5.1
RESPONSIVENESS
.
99
5.2
REACTIVENESS
.
100
VIII
5.3
COMPARISON
WITH
TASK-SPACE
BASED
ZONES
.
102
5.3.1
MANUAL
COORDINATION
APPROACH
.
102
5.3.2
EXPERIMENTAL
RESULTS
.
103
5.4
DEADLOCK
AVOIDANCE
.
105
6
CONCLUSION
AND
OUTLOOK
107
BIBLIOGRAPHY
109
IX |
| any_adam_object | 1 |
| any_adam_object_boolean | 1 |
| author | Beuke, Felix |
| author_GND | (DE-588)1206897856 |
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| ctrlnum | (OCoLC)1183346817 (DE-599)DNB1275139388 |
| discipline | Mess-/Steuerungs-/Regelungs-/Automatisierungstechnik / Mechatronik |
| discipline_str_mv | Mess-/Steuerungs-/Regelungs-/Automatisierungstechnik / Mechatronik |
| format | Thesis Book |
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| genre_facet | Hochschulschrift |
| id | DE-604.BV048802410 |
| illustrated | Illustrated |
| index_date | 2024-07-03T21:28:09Z |
| indexdate | 2024-07-10T09:46:20Z |
| institution | BVB |
| institution_GND | (DE-588)2058778-8 (DE-588)4786605-6 |
| isbn | 9783839615614 3839615615 |
| language | English |
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| oclc_num | 1183346817 |
| open_access_boolean | |
| owner | DE-92 |
| owner_facet | DE-92 |
| physical | XIII, 126 Seiten Illustrationen, Diagramme 21 cm x 14.8 cm |
| publishDate | 2020 |
| publishDateSearch | 2020 |
| publishDateSort | 2020 |
| publisher | FRAUNHOFER VERLAG |
| record_format | marc |
| series2 | Stuttgarter Beiträge zur Produktionsforschung |
| spelling | Beuke, Felix Verfasser (DE-588)1206897856 aut Online motion planning for dual arm industrial robots Felix Beuke Stuttgart FRAUNHOFER VERLAG [2020] XIII, 126 Seiten Illustrationen, Diagramme 21 cm x 14.8 cm txt rdacontent n rdamedia nc rdacarrier Stuttgarter Beiträge zur Produktionsforschung Band 98 Dissertation Universität Stuttgart 2019 Industrieroboter (DE-588)4026861-5 gnd rswk-swf Robotik (DE-588)4261462-4 gnd rswk-swf Dual Arm Robots Industrial Robots Motion Planning Autonomous Systems Algorithms Ingenieure aus den Bereichen Forschung, Automatisierungstechnik undProduktionstechnik (DE-588)4113937-9 Hochschulschrift gnd-content Robotik (DE-588)4261462-4 s Industrieroboter (DE-588)4026861-5 s DE-604 Fraunhofer-Institut für Produktionstechnik und Automatisierung (DE-588)2058778-8 isb Fraunhofer IRB-Verlag (DE-588)4786605-6 pbl X:MVB text/html http://deposit.dnb.de/cgi-bin/dokserv?id=0a0b4a92154d46338ed23156862e7be3&prov=M&dok_var=1&dok_ext=htm Inhaltstext DNB Datenaustausch application/pdf http://bvbr.bib-bvb.de:8991/F?func=service&doc_library=BVB01&local_base=BVB01&doc_number=034068519&sequence=000001&line_number=0001&func_code=DB_RECORDS&service_type=MEDIA Inhaltsverzeichnis 1\p vlb 20221209 DE-101 https://d-nb.info/provenance/plan#vlb |
| spellingShingle | Beuke, Felix Online motion planning for dual arm industrial robots Industrieroboter (DE-588)4026861-5 gnd Robotik (DE-588)4261462-4 gnd |
| subject_GND | (DE-588)4026861-5 (DE-588)4261462-4 (DE-588)4113937-9 |
| title | Online motion planning for dual arm industrial robots |
| title_auth | Online motion planning for dual arm industrial robots |
| title_exact_search | Online motion planning for dual arm industrial robots |
| title_exact_search_txtP | Online motion planning for dual arm industrial robots |
| title_full | Online motion planning for dual arm industrial robots Felix Beuke |
| title_fullStr | Online motion planning for dual arm industrial robots Felix Beuke |
| title_full_unstemmed | Online motion planning for dual arm industrial robots Felix Beuke |
| title_short | Online motion planning for dual arm industrial robots |
| title_sort | online motion planning for dual arm industrial robots |
| topic | Industrieroboter (DE-588)4026861-5 gnd Robotik (DE-588)4261462-4 gnd |
| topic_facet | Industrieroboter Robotik Hochschulschrift |
| url | http://deposit.dnb.de/cgi-bin/dokserv?id=0a0b4a92154d46338ed23156862e7be3&prov=M&dok_var=1&dok_ext=htm http://bvbr.bib-bvb.de:8991/F?func=service&doc_library=BVB01&local_base=BVB01&doc_number=034068519&sequence=000001&line_number=0001&func_code=DB_RECORDS&service_type=MEDIA |
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