Simulated Framework for the Development and Evaluation of Redundant Robotic Systems

Ioannis Iossifidis

2014

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

  1. Borst, C., Wimbock, T., and Schmidt, F. (2009). Rollin'Justin-Mobile platform with variable base. In Robotics and Automation, 2009. ICRA'09. IEEE International Conference on, pages 1597--1598. IEEE.
  2. Hollerbach, J. (1984). Optimum kinematic design for a seven degree of freedom manipulator. In 2nd Int. Symp. Robotics Research, pages 215 -222.
  3. Iossifidis, I. (2013). Motion Constraint Satisfaction by Means of Closed Form Solution for Redundant Robot Arms. In Proc. IEEE/RSJ International Conference on Robotics and Biomimetics (RoBio2013).
  4. Iossifidis, I. and Sch öner, G. (2006). Dynamical Systems Approach for the Autonomous Avoidance of Obstacles and Joint-limits for an Redundant Robot Arm. In 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, pages 580-585. IEEE.
  5. Iossifidis, I., Theis, C., Grote, C., Faubel, C., and Schöner, G. (2003). Anthropomorphism as a pervasive design concept for a robotic assistant. In Proceedings 2003 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2003) (Cat. No.03CH37453), volume 4, pages 3465-3472. IEEE.
  6. Kreutz-Delgado, K., Long, M., and Seraji, H. (1990). Kinematic analysis of 7 DOF anthropomorphic arms. In Robotics and Automation, 1990. Proceedings., 1990 IEEE International Conference on, pages 824 - 830.
  7. Murray, R., Li, Z., and Sastry, S. (1994). A mathematical introduction to robotic manipulation. CRC Press.
Download


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