Aspects concerning the modeling of robots with increased dexterity
Conference: ISR/Robotik 2014 - 45th International Symposium on Robotics; 8th German Conference on Robotics
06/02/2014 - 06/03/2014 at München, Germany
Proceedings: ISR/Robotik 2014
Pages: 6Language: englishTyp: PDF
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Authors:
Lapusan, Ciprian; Fodor, Ferencz; Brisan, Cornel (Department of Mechatronics and Machine Dynamics, Technical University of Cluj-Napoca, Cluj-Napoca, Romania)
Csiszar, Akos (Graduate School of Excellence Advanced Manufacturing Engineering, University of Stuttgart, Germany)
Verl, Alexander (Institute for Control Engineering of Machine Tools and Manufacturing Units, University of Stuttgart, Stuttgart, Germany)
Abstract:
Robotic structures have been a subject to continuous innovation since their presence. This paper presents a new approach to solve the inverse kinematics problem of the “HIDRA” (HIghDexterityRoboticArm). A SimMechanics trunk model has been developed based on which a position control algorithm will be developed. The published experimental results, coming from numerical simulations, validate the similarity of our kinematic model, and our new approach of determining the lengths of the bellows. This new approach presents the correlation between the physical characteristics and the elongation provided by variable air pressure.