Simulated Framework for the Development and Evaluation of Redundant Robotic Systems

Ioannis Iossifidis

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Paper

Simulated Framework for the Development and Evaluation of Redundant Robotic Systems

Topics: Human and Computer Interaction; Software Simulation

In Proceedings of the 4th International Conference on Pervasive and Embedded Computing and Communication Systems PECCS - Volume 1, 55-60, 2014 , Lisbon, Portugal

Author: Ioannis Iossifidis

Affiliation: Ruhr West University of Applied Sciences, Germany

Keyword(s): Simulated Environment, Redundant Manipulator, Closed Form Solution, Kinematics.

Related Ontology Subjects/Areas/Topics: Applications and Services ; Computer Vision, Visualization and Computer Graphics ; Digital Signal Processing ; Enterprise Information Systems ; Human and Computer Interaction ; Human-Computer Interaction ; Software Simulation ; Telecommunications

Abstract: In the current work we present a simulated environment for the development and evaluation of multi redundant open chain manipulators. The framework is implemented in Matlab and provides solutions for the kinematics and dynamics of an arbitrary open chain manipulator. For a anthropomorphic trunk-shoulder-arm configuration with in total nine degree of freedoms, a closed form solution of the inverse kinematics problem is derived. The attractor dynamics approach to motion generation was evaluated within this framework and the results are verified on the real anthropomorphic robotic assistant Cora.

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Paper citation in several formats:

Iossifidis, I. (2014). Simulated Framework for the Development and Evaluation of Redundant Robotic Systems. In Proceedings of the 4th International Conference on Pervasive and Embedded Computing and Communication Systems - PECCS; ISBN 978-989-758-000-0; ISSN 2184-2817, SciTePress, pages 55-60. DOI: 10.5220/0004802900550060

@conference{peccs14,
author={Ioannis Iossifidis.},
title={Simulated Framework for the Development and Evaluation of Redundant Robotic Systems},
booktitle={Proceedings of the 4th International Conference on Pervasive and Embedded Computing and Communication Systems - PECCS},
year={2014},
pages={55-60},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0004802900550060},
isbn={978-989-758-000-0},
issn={2184-2817},
}

TY - CONF

JO - Proceedings of the 4th International Conference on Pervasive and Embedded Computing and Communication Systems - PECCS
TI - Simulated Framework for the Development and Evaluation of Redundant Robotic Systems
SN - 978-989-758-000-0
IS - 2184-2817
AU - Iossifidis, I.
PY - 2014
SP - 55
EP - 60
DO - 10.5220/0004802900550060
PB - SciTePress