Name
Abstract | ||
|---|---|---|
Motion simulators based on industrial robots can produce high dynamic accelerations and velocities compared to classical hydraulic hexapod systems. In case of emergency stops, large and possibly harmful accelerations can occur. This paper aims to provide an optimization procedure to generate worst case trajectories in order to test for these harmful accelerations, by maximizing the kinetic energy prior the emergency stop. The dynamical and mechanical limits of the robot are considered as constraints of the optimization criterion. An exemplary worst case trajectory is simulated using a braking model and the resulting Head Injury Criterion (HIC) is calculated and compared with older tests, using non-optimized trajectories. A significant higher, yet with the current robot dynamics not harmful HIC value can be generated. |
Year | DOI | Venue |
|---|---|---|
2014 | 10.1109/ICRA.2014.6907333 | Robotics and Automation |
Keywords | Field | DocType |
braking,dexterous manipulators,manipulator dynamics,motion control,optimisation,trajectory control,HIC,braking model,emergency stop,head injury criterion,hydraulic hexapod systems,industrial robots,kinetic energy,optimization criterion,optimization procedure,robot dynamical limits,robot mechanical limits,robotic motion simulator,worst case braking trajectory,worst case trajectory generation | Simulation,Control theory,Head injury criterion,Control engineering,Engineering,Robot,Hexapod,Trajectory | Conference |
Volume | Issue | ISSN |
2014 | 1 | 1050-4729 |
Citations | PageRank | References |
0 | 0.34 | 4 |
Authors | ||
4 | ||
Name | Order | Citations | PageRank |
|---|---|---|---|
| Andreas Labusch | 1 | 0 | 0.34 |
| Tobias Bellmann | 2 | 11 | 3.62 |
| Karan Sharma | 3 | 13 | 2.96 |
| Johann Bals | 4 | 0 | 0.34 |