An intuitive interface for nullspace teaching of redundant robots

被引：0
|
作者：
Schreiber, G [1 ]
Hirzinger, G [1 ]
机构：
[1] DLR, Inst Robot & Mechatron, D-82230 Wessling, Germany
来源：
ADVANCES IN ROBOT KINEMATICS | 2000年
关键词：
D O I：
暂无
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
In the growing field of service robotics, redundant manipulator arms provide enormous advantages compared to their non-redundant counterparts. But the fact that no intuitive approaches exist for handling highly redundant robots hinders the breakthrough of such superior mechanisms. In this paper a general algorithm is proposed which allows the intuitive configuration manipulation of a redundant robot during a teach phase. The proposed algorithm enables a teacher to handle highly redundant manipulators (DoF much greater than 6) in a natural way using the same teach-device as used in TCP teaching.
引用
收藏
页码：209 / 216
页数：8
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