DocumentCode
3043410
Title
A general approach for simulating robots for flexible material handling
Author
Rogalla, O. ; Dillmann, R. ; Frugoli, G. ; Bordegoni, M.
Author_Institution
Inst. for Process Control & Robotics, Karlsruhe Univ., Germany
fYear
1999
fDate
1999
Firstpage
211
Lastpage
218
Abstract
Kinematic modelling of robots and flexible material simulation have been an important aspect in robotic research issues over the last years. In this article a new approach for the design of arbitrary gripper and robot architectures are presented. It is shown how these robot systems can be simulated based on the presented design structure. Further, the integration of flexible material simulation is displayed. A particle based object models are shown and the mathematical basics described. Finally, the integration of the flexible material simulation into the robot simulation software is given and evaluated
Keywords
computerised control; digital simulation; manipulator kinematics; solid modelling; 3D surface model; flexible object manipulation; gripper; kinematic model; object models; robot manipulator; simulation; Deformable models; Grippers; Kinematics; Libraries; Manipulator dynamics; Materials handling; Object oriented modeling; Packaging; Robots; Solid modeling;
fLanguage
English
Publisher
ieee
Conference_Titel
Assembly and Task Planning, 1999. (ISATP '99) Proceedings of the 1999 IEEE International Symposium on
Conference_Location
Porto
Print_ISBN
0-7803-5704-3
Type
conf
DOI
10.1109/ISATP.1999.782961
Filename
782961
Link To Document