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In this paper we adressed the problem of finding exciting trajectories for the identification of manipulator link inertia parameters. This can be formulated as a constraint nonlinear optimization problem. The new approach in the presented method is the parameterization of the trajectories with optimized B-splines. Experiments are carried out on a 7 joint Light-Weight robot with torque sensoring in...
This paper presents a novel approach to camera calibration that improves final accuracy with respect to standard methods using precision planar targets, even if now inaccurate, unmeasured, roughly planar targets can be used. The work builds on a recent trend in camera calibration, namely concurrent optimization of scene structure together with the intrinsic camera parameters [4, 8, 1]. A novel formulation...
Many real-world tasks require fast planning of highly dynamic movements for their execution in real-time. The success often hinges on quickly finding one of the few plans that can achieve the task at all. A further challenge is to quickly find a plan which optimizes a desired cost. In this paper, we will discuss this problem in the context of catching small flying targets efficiently. This can be...
In Part I of this paper, a novel motion simulator platform is presented, the DLR Robot Motion Simulator with 7 degrees of freedom (DOF). In this Part II, a path-planning algorithm for mentioned platform will be discussed. By replacing the widely used hexapod kinematics by an antropomorhic, industrial robot arm mounted on a standard linear axis, a comparably larger workspace at lower hardware costs...
This video presents the complete procedure for the optimal setup of the DLR MiroSurge telerobotic system for minimally invasive surgery. Two key features are implemented. First, optimization algorithms preoperatively determine several setups that are then rated and selected by the surgeon. Second, the intraoperative situation is taken into account. The newly developed VR-Map device together with fast...
This paper presents inverse position kinematics algorithms with real time capability for Justin, a robotic system with high redundancy and many degrees of freedom. The combination of closed form solutions for parts of the kinematic chain embedded in a nonlinear equation solver is shown to be advantageous. The algorithms are evaluated with DLR's robot Justin both in simulation and reality. Calculation...
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