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Autonome Mobile Systeme 1998 pp 164–171Cite as

Dynamische Bänder zur Bewegungsplanung für mobile Manipulatoren

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

Zusammenfassung

Dieser Beitrag stellt ein Verfahren zur Planung von Bewegungsabläufen für mobile Roboter im Servicebereich vor. wobei Sicherheit, Robustheit und glatte Bewegungsabläufe im Vordergrund stehen. Der Bewegungsplan ist dynamisch, d.h. er wird zur Ausführungszeit an die aktuelle Umgebung angepaßt. Damit wird auch bei variierender Umgebung ein flüssiger Bewegungsablauf gewährleistet. Der Bewegungsplan wird durch Bänder repräsentiert, welche eine Menge von möglichen Pfaden für Plattform und Manipulator darstellen. Durch geeignete Modifikation und Interaktion der Bänder werden sowohl kinematische als auch dynamische Beschränkungen des Systems berücksichtigt.

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Author information

Authors and Affiliations

  1. Lehrstuhl für Steuerungs- und Regelungstechnik, Technische Universität München, 80290, München, Germany

    R. Furtwängler, U. D. Hanebeck & G. Schmidt

Authors
  1. R. Furtwängler
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  2. U. D. Hanebeck
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  3. G. Schmidt
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Editor information

Editors and Affiliations

  1. Institut für Prozeßrechentechnik, Automation und Robotik (IPR) Fakultät für Informatik, Universität Karlsruhe, Kaiserstraße 12, Gebäude 40.28, D-76128, Karlsruhe, Germany

    Heinz Wörn , Rüdiger Dillmann  & Dominik Henrich ,  & 

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© 1999 Springer-Verlag Berlin Heidelberg

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Furtwängler, R., Hanebeck, U.D., Schmidt, G. (1999). Dynamische Bänder zur Bewegungsplanung für mobile Manipulatoren. In: Wörn, H., Dillmann, R., Henrich, D. (eds) Autonome Mobile Systeme 1998. Informatik aktuell. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-60043-2_20

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  • DOI: https://doi.org/10.1007/978-3-642-60043-2_20

  • Publisher Name: Springer, Berlin, Heidelberg

  • Print ISBN: 978-3-540-65192-5

  • Online ISBN: 978-3-642-60043-2

  • eBook Packages: Springer Book Archive

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