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Vieweg+Teubner Verlag Steuerung der Konfiguration Eines Redundanten Manipulators: 17 (Fortschritte der Robotik, 17)

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Description

Die vorliegende Arbeit wurde im Rahmen meiner Tatigkeit als wissenschaftliche Mitarbeiterin im Labor fur Handhabungstechnik im Kernforschungszentrum Karlsruhe am Institut fur Reaktorentwicklung erstellt. Herrn W. Muller -Dietsche, dem Projektleiter des Bereichs Handhabungstechnik, mochte ich dafur danken, daB ich die Moglichkeit erhielt, langere Zeit an einem Projekt im Institut fur Reaktorentwicklung mitzuarbeiten. Herrn Prof. Dr. D. Smidt danke ich fur sein Interesse an der Arbeit und die Obernahme des Hauptreferats. Fur die Obernahme des Korreferats sowie fur viele Verbesserungsvorschlage bei der schriftlichen Ausarbeitung, bedanke ich mich bei Herrn P.O. Dr. M. Lawo. Den Abteilungsleitern Herrn Dr. CM. Blume und Herrn Dr. E.G. Schlechtendahl mochte ich fur die Betreuung und UnterstUtzung meiner Arbeit danken. Allen Kollegen des Instituts fur Reaktorentwicklung und des Labors fur Handhabungstechnik, die mich mit Rat und Tat unterstutzten, mochte ich danken. Den Kollegen der Abteilung IRE17 gilt mein besonderer Dank, da das angenehme Arbeitsklima in dieser Abteilung mit zum Gelingen der Arbeit beitrug. v Zusammenfassung Ein redundanter Manipulator besitzt mehr Freiheitsgrade als fur die Positionierung und Orientierung im Raum mindestens notwendig sind. Dadurch sind zu jeder Vorgabe einer Bahn der Manipulatorspitze unendlich viele Gelenktrajektorien moglich. Durch zusatzliche Anforderungen an die Gelenkstellung oder -trajektorie wird in jedem Steuerzyklus aus der Menge aller moglichen Gelenkwinkelanderungen eine festgelegt.

Product Specifications

Format
perfect
Domain
Amazon UK
Release Date
01 January 1992
Listed Since
17 August 2012

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