• search hit 1 of 1
Back to Result List

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.

Export metadata

Additional Services

Share in Twitter Search Google Scholar Statistics
Metadaten
Author:Oliver Kotz, Matthias Stapf, Mark Becke
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