Thomas Raukamp, Klemens Springer, Hubert Gattringer,
"Optimal Path-Planning in the Special Case of Ball Throwing Using an Industrial Robot"
, in Wilfried Kubinger, Alexander Hofmann, Friedrich Praus: Proceedings of the Austrian Robotics Workshop 2013, Seite(n) 61-66, 5-2013, ISBN: 978-3-200-03095-4
Original Titel:
Optimal Path-Planning in the Special Case of Ball Throwing Using an Industrial Robot
Sprache des Titels:
Englisch
Original Buchtitel:
Proceedings of the Austrian Robotics Workshop 2013
Original Kurzfassung:
This paper presents optimal path planning in the special case of ball throwing. The task has to be fullfilled by a standard industrial robot with six degrees of freedom, where-fore a parameter identification is conducted. For the purpose of obtaining optimal trajectories fulfilling this exercise, cubic basis splines are used. A nonlinear optimization considering physical constraints as well as the launch angle generates the optimal motion. For the calculation of the balls flight path drag force is included. Results in simulation and at the real robot are shown.
Forschungs-