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GPU-Based Task Specific Evaluation of the Dynamic Performance of a 6DOF Manipulator
- This paper addresses the problem of properly placing a given task in the manipulator workspace by a heuristic and numeric approach. Thus, the task is placed relatively to the manipulator for each element of the discretized workspace and the required joint torques are determined. The results are are by a torque-based optimization criterion. The modularity of this approach ensures general applicability on various systems and tasks while the high computational effort is treated by GPU parallelization. The method is presented for a given 6DOF manipulator and a highly dynamic trajectory. The resulting interactive map of the manipulator workspace gives an overview of the task dependent dynamic performance, detailed evaluation of certain solutions will show the dexterity of the proposed approach.
Author: | Oliver Kotz, Matthias Stapf, Mark Becke |
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DOI: | https://doi.org/10.1007/978-3-319-22876-1_30 |
Parent Title (English): | Intelligent Robotics and Applications. 8th International Conference, ICIRA 2015, Portsmouth, UK, August 24-27, 2015, Proceedings, Part II |
Publisher: | Springer |
Place of publication: | Cham |
Document Type: | conference proceeding (article) |
Language: | English |
Year of first Publication: | 2015 |
Release Date: | 2022/12/16 |
First Page: | 345 |
Last Page: | 357 |
Andere Schriftenreihe: | Lecture Notes in Computer Science book series ; 9245 |
Institutes: | Fakultät Maschinenbau |
research focus: | Digitalisierung |
Licence (German): | Keine Lizenz - Es gilt das deutsche Urheberrecht: § 53 UrhG |