Download Advances in Robotics Research: Theory, Implementation, by Klaas Klasing, Dirk Wollherr, Martin Buss (auth.), Torsten PDF

By Klaas Klasing, Dirk Wollherr, Martin Buss (auth.), Torsten Kröger, Friedrich M. Wahl (eds.)

The German Workshop on Robotics is a practice of roboticists from academia and engaged on mathematical and algorithmic foundations of robotics, at the layout and research of robot structures in addition to on robot purposes. chosen contributions from researchers in German-speaking international locations in addition to from the foreign robotics neighborhood compose this quantity. The papers are geared up in ten medical tracks: Kinematic and Dynamic Modeling, movement new release, Sensor Integration, robotic imaginative and prescient, robotic Programming, Humanoid Robots, greedy, scientific Robotics, self sustaining Helicopters, and robotic Applications.

Due to an intensive assessment and dialogue technique, this number of clinical contributions is of very excessive quality and supplies to strongly effect destiny robot examine activities.

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E. the space that is available for the balancing elements, is taken into account, since in practise this often has a considerable inf uence on the performance. There is a difference between the inertia of an element and the inertia of the mechanism. This paper deals with the minimization of the inertia of the mechanism, which is represented by the reduced inertia as defi ed in [8]. This is the inertia of the mechanism reduced to the input parameters, in fact the inertia that an actuator feels when driving the system.

Time, during which they might be subject to damage, inaccurate repairs or other unforeseen modif cations. This requires the development of new approaches to robust self-adaptation of the robot’s internal kinematic models. In this paper we introduce methods that can be used to approximate the inverse kinematic function without an a priori model. The robot visually observes the effects of its motor-commands on the position of its end-effector. The robot can then use these observations to estimate the kinematic function using nearest-neighbor methods (Figure 1).

1 Introduction Robotic manipulators typically require a Cartesian controller that maps the threedimensional world space coordinates to joint conf gurations. The equations for the inverse kinematics can analytically be derived in advance when a robot model is available. Careful parameter calibration then ensures high accuracy in positioning tasks. In the emerging f eld of home robotics, robots are likely to be assembled without surveillance of an engineer, meaning that no accurate construction model is available at design time.

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