GPU-Based Task Specific Evaluation of the Dynamic Performance of a 6DOF Manipulator

被引:0
|
作者
Kotz, Oliver [1 ]
Stapf, Matthias [1 ]
Becke, Mark [1 ]
机构
[1] Ostbayer Tech Hsch, Regensburg Robot Res Unit, Fac Mech Engn, Regensburg, Germany
来源
INTELLIGENT ROBOTICS AND APPLICATIONS (ICIRA 2015), PT II | 2015年 / 9245卷
关键词
Dynamic performance; Trajectory placement; Workspace examination; Brute-force search; GPU parallelization; LOCATION;
D O I
10.1007/978-3-319-22876-1_30
中图分类号
TP [自动化技术、计算机技术];
学科分类号
0812 ;
摘要
This paper addresses the problem of properly placing a given task in the manipulator workspace by a heuristic and numeric approach. Thus, the task is placed relatively to the manipulator for each element of the discretized workspace and the required joint torques are determined. The results are are by a torque-based optimization criterion. The modularity of this approach ensures general applicability on various systems and tasks while the high computational effort is treated by GPU parallelization. The method is presented for a given 6DOF manipulator and a highly dynamic trajectory. The resulting interactive map of the manipulator workspace gives an overview of the task dependent dynamic performance, detailed evaluation of certain solutions will show the dexterity of the proposed approach.
引用
收藏
页码:345 / 357
页数:13
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