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Koordination von Lokomotion und Manipulatorbewegung des Roboters WorkPartner

  • Conference paper
Autonome Mobile Systeme 2003

Part of the book series: Informatik aktuell ((INFORMAT))

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Zusammenfassung

Die Koordination der Bewegungssteuerung von Plattform und Manipulatoren ist ein zentrales Problem bei der Entwicklung mobiler Roboter. Diese Arbeit stellt eine mögliche Lösung vor, die auf einem reaktiven, manipulatorzentrierten Ansatz beruht. Dabei werden zusätztliche Freiheitsgrade wie Oberkörperbewegung oder Beinstreckung sowie typische nichtholonome Eigenschaften der Plattform berücksichtigt. Weiterhin stehen Möglichkeiten zur Verfügung, um die Koordination der Plattformbewegung über wenige Parameter an gegebene Aufgaben anzupassen. Als Versuchsplattform dient der Roboter Work-Partner, ein mobiler Serviceroboter mit hybridem Antriebskonzept und zwei Manipulatorarmen, der interaktiv mit dem Menschen auch im Freien zusammenarbeiten soll. Einige Experimente werden vorgestellt, die die Funktionalität des Ansatzes praktisch untersu chen sollen.

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Author information

Authors and Affiliations

  1. AG Robotersysteme, Fachbereich Informatik, Universität Kaiserslautern, Germany

    Tobias Luksch

  2. Automation Technology Laboratory, Helsinki University of Technology, Espoo, Finnland

    Sami Ylönen & Aarne Halme

Authors
  1. Tobias Luksch
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  2. Sami Ylönen
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  3. Aarne Halme
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Editor information

Editors and Affiliations

  1. Lehrstuhl für Industrielle Anwendungen der Informatik und Mikrosystemtechnik (IAIM), Technologiefabrik Universität Karlsruhe(TH), Haid-und-Neu-Str. 7, 76131, Karlsruhe, Germany

    Rüdiger Dillmann  & Tilo Gockel  & 

  2. Institut für Prozessrechentechnik, Automation und Robotik (IPR), Geb. 40.28, Universität Karlsruhe (TH), 76128, Karlsruhe, Germany

    Heinz Wörn

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© 2003 Springer-Verlag Berlin Heidelberg

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Luksch, T., Ylönen, S., Halme, A. (2003). Koordination von Lokomotion und Manipulatorbewegung des Roboters WorkPartner. In: Dillmann, R., Wörn, H., Gockel, T. (eds) Autonome Mobile Systeme 2003. Informatik aktuell. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-18986-9_24

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  • DOI: https://doi.org/10.1007/978-3-642-18986-9_24

  • Publisher Name: Springer, Berlin, Heidelberg

  • Print ISBN: 978-3-540-20142-7

  • Online ISBN: 978-3-642-18986-9

  • eBook Packages: Springer Book Archive

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