Simulated Framework for the Development and Evaluation of Redundant Robotic Systems

Ioannis Iossifidis

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.

References

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Paper Citation


in Harvard Style

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 - Volume 1: PECCS, ISBN 978-989-758-000-0, pages 55-60. DOI: 10.5220/0004802900550060


in Bibtex Style

@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 - Volume 1: PECCS,},
year={2014},
pages={55-60},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0004802900550060},
isbn={978-989-758-000-0},
}


in EndNote Style

TY - CONF
JO - Proceedings of the 4th International Conference on Pervasive and Embedded Computing and Communication Systems - Volume 1: PECCS,
TI - Simulated Framework for the Development and Evaluation of Redundant Robotic Systems
SN - 978-989-758-000-0
AU - Iossifidis I.
PY - 2014
SP - 55
EP - 60
DO - 10.5220/0004802900550060