Task-oriented programming of large redundant robot motion

Large robots are a new domain of advanced robotics. Examples of their application fields are tasks like operations on large free-form surfaces, especially aircraft cleaning and removing paint from hulls. They are equipped with a programmable robot control comparable to a control system used for indu...

Ausführliche Beschreibung

Gespeichert in:
Bibliographische Detailangaben
Veröffentlicht in:Robotics and computer-integrated manufacturing Jg. 14; H. 5; S. 363 - 375
Hauptverfasser: Westkämper, Engelbert, Schraft, Rolf Dieter, Schweizer, Manfred, Fred Herkommer, T., Meißner, Alexander
Format: Journal Article
Sprache:Englisch
Veröffentlicht: Elsevier Ltd 1998
Schlagworte:
Motion planning
Off-line programming
Redundant robot
Spline interpolation
Task oriented programming
Trajectory generation
Motion planning
Off-line programming
Trajectory generation
Redundant robot
Spline interpolation
Task oriented programming
ISSN:0736-5845, 1879-2537
Online-Zugang:Volltext
Tags: Tag hinzufügen
Keine Tags, Fügen Sie den ersten Tag hinzu!
Abstract Large robots are a new domain of advanced robotics. Examples of their application fields are tasks like operations on large free-form surfaces, especially aircraft cleaning and removing paint from hulls. They are equipped with a programmable robot control comparable to a control system used for industrial robots. However, conventional teach-in methods are not able to manage the complexity of programming large redundant robot operation on free-form geometries. The Fraunhofer IPA has developed an innovative off-line programming system that allows the creation of robot motion programs which satisfy time and energy optimization criteria. This system helps to avoid collisions within the workspace and to fulfill conditions that arise from the robot kinematics and dynamics. This advanced programming system has been successfully used to generate motion programs for the world’s largest mobile robot, the aircraft cleaning manipulator SKYWASH. In this context offline programs for eleven different types of aircraft have been developed.
AbstractList Large robots are a new domain of advanced robotics. Examples of their application fields are tasks like operations on large free-form surfaces, especially aircraft cleaning and removing paint from hulls. They are equipped with a programmable robot control comparable to a control system used for industrial robots. However, conventional teach-in methods are not able to manage the complexity of programming large redundant robot operation on free-form geometries. The Fraunhofer IPA has developed an innovative off-line programming system that allows the creation of robot motion programs which satisfy time and energy optimization criteria. This system helps to avoid collisions within the workspace and to fulfill conditions that arise from the robot kinematics and dynamics. This advanced programming system has been successfully used to generate motion programs for the world’s largest mobile robot, the aircraft cleaning manipulator SKYWASH. In this context offline programs for eleven different types of aircraft have been developed.
Author Westkämper, Engelbert
Fred Herkommer, T.
Meißner, Alexander
Schweizer, Manfred
Schraft, Rolf Dieter
Author_xml – sequence: 1
  givenname: Engelbert
  surname: Westkämper
  fullname: Westkämper, Engelbert
– sequence: 2
  givenname: Rolf Dieter
  surname: Schraft
  fullname: Schraft, Rolf Dieter
– sequence: 3
  givenname: Manfred
  surname: Schweizer
  fullname: Schweizer, Manfred
– sequence: 4
  givenname: T.
  surname: Fred Herkommer
  fullname: Fred Herkommer, T.
– sequence: 5
  givenname: Alexander
  surname: Meißner
  fullname: Meißner, Alexander
  email: axm@ipa.fhg.de
BookMark eNqFkM1KAzEYRYNUsK0-gjBLXUTzM8kkuBAp_kHBhV10FzJJpkQ7SUmi4Ns7Y8WFm66-zT2X-50ZmIQYHADnGF1hhPn1K2ooh0zU7EKKS4QQ4XB9BKZYNBISRpsJmP5FTsAs57cxVDM6BXKl8zuMybtQnK12KW6S7nsfNlXsqq1OG1clZz-C1aFUKbaxVH0sPoZTcNzpbXZnv3cOVg_3q8UTXL48Pi_ultBQxgs0pJEYadQKaYRoLZUtkcYKbmuNaV23hHcdxlJaiW1XY4aJ1og0xlnOpaBzcLOvNSnmnFynjC96HFCS9luFkRolqB8JavxQSaF-JKj1QLN_9C75Xqevg9ztnnPDZ5_eJZXNoGgY5ZMzRdnoDzR8AxLMduU
CitedBy_id crossref_primary_10_1109_TMECH_2015_2401606
crossref_primary_10_1109_TCST_2008_2009529
crossref_primary_10_1016_j_mechatronics_2021_102605
crossref_primary_10_1109_TASE_2020_3031691
crossref_primary_10_1007_s40430_023_04192_z
crossref_primary_10_1016_j_autcon_2010_07_012
ContentType Journal Article
Copyright 1998 Elsevier Science Ltd
Copyright_xml – notice: 1998 Elsevier Science Ltd
DBID AAYXX
CITATION
DOI 10.1016/S0736-5845(98)00026-X
DatabaseName CrossRef
DatabaseTitle CrossRef
DatabaseTitleList
DeliveryMethod fulltext_linktorsrc
Discipline Engineering
Computer Science
EISSN 1879-2537
EndPage 375
ExternalDocumentID 10_1016_S0736_5845_98_00026_X
S073658459800026X
GroupedDBID --K
--M
-~X
.DC
.~1
0R~
123
1B1
1~.
1~5
29P
4.4
457
4G.
5VS
7-5
71M
8P~
9JN
AABNK
AACTN
AAEDT
AAEDW
AAIAV
AAIKC
AAIKJ
AAKOC
AALRI
AAMNW
AAOAW
AAQFI
AAQXK
AAXUO
AAYFN
ABBOA
ABFSI
ABJNI
ABMAC
ABXDB
ABYKQ
ACDAQ
ACGFS
ACIWK
ACNNM
ACRLP
ADBBV
ADEZE
ADMUD
ADTZH
AEBSH
AECPX
AEKER
AENEX
AFFNX
AFKWA
AFTJW
AGHFR
AGUBO
AGYEJ
AHHHB
AHJVU
AIALX
AIEXJ
AIKHN
AITUG
AJBFU
AJOXV
ALMA_UNASSIGNED_HOLDINGS
AMFUW
AMRAJ
AOUOD
ASPBG
AVWKF
AXJTR
AZFZN
BJAXD
BKOJK
BLXMC
CS3
DU5
E.L
EBS
EFJIC
EFLBG
EJD
EO8
EO9
EP2
EP3
F5P
FDB
FEDTE
FGOYB
FIRID
FNPLU
FYGXN
G-2
G-Q
GBLVA
HLZ
HVGLF
HZ~
IHE
J1W
JJJVA
KOM
LG9
LY7
M41
MO0
MS~
N9A
O-L
O9-
OAUVE
OZT
P-8
P-9
P2P
PC.
PZZ
Q38
R2-
RIG
RNS
ROL
RPZ
SBC
SDF
SDG
SDP
SES
SET
SEW
SPC
SPCBC
SST
SSV
SSZ
T5K
UHS
WUQ
XPP
ZMT
~G-
9DU
AATTM
AAXKI
AAYWO
AAYXX
ABWVN
ACLOT
ACRPL
ACVFH
ADCNI
ADNMO
AEIPS
AEUPX
AFJKZ
AFPUW
AGQPQ
AIGII
AIIUN
AKBMS
AKRWK
AKYEP
ANKPU
APXCP
CITATION
EFKBS
~HD
ID FETCH-LOGICAL-c356t-c27910a0b89c88bd39b29cd86d4a1344b26ff1199d91df41512aa027ced66983
ISICitedReferencesCount 10
ISICitedReferencesURI http://www.webofscience.com/api/gateway?GWVersion=2&SrcApp=Summon&SrcAuth=ProQuest&DestLinkType=CitingArticles&DestApp=WOS_CPL&KeyUT=000078045800004&url=https%3A%2F%2Fcvtisr.summon.serialssolutions.com%2F%23%21%2Fsearch%3Fho%3Df%26include.ft.matches%3Dt%26l%3Dnull%26q%3D
ISSN 0736-5845
IngestDate Sat Nov 29 03:56:34 EST 2025
Tue Nov 18 22:46:21 EST 2025
Fri Feb 23 02:34:01 EST 2024
IsPeerReviewed true
IsScholarly true
Issue 5
Keywords Motion planning
Off-line programming
Trajectory generation
Redundant robot
Spline interpolation
Task oriented programming
Language English
License https://www.elsevier.com/tdm/userlicense/1.0
LinkModel OpenURL
MergedId FETCHMERGED-LOGICAL-c356t-c27910a0b89c88bd39b29cd86d4a1344b26ff1199d91df41512aa027ced66983
PageCount 13
ParticipantIDs crossref_citationtrail_10_1016_S0736_5845_98_00026_X
crossref_primary_10_1016_S0736_5845_98_00026_X
elsevier_sciencedirect_doi_10_1016_S0736_5845_98_00026_X
PublicationCentury 1900
PublicationDate 1998-00-00
PublicationDateYYYYMMDD 1998-01-01
PublicationDate_xml – year: 1998
  text: 1998-00-00
PublicationDecade 1990
PublicationTitle Robotics and computer-integrated manufacturing
PublicationYear 1998
Publisher Elsevier Ltd
Publisher_xml – name: Elsevier Ltd
SSID ssj0002453
Score 1.5413015
Snippet Large robots are a new domain of advanced robotics. Examples of their application fields are tasks like operations on large free-form surfaces, especially...
SourceID crossref
elsevier
SourceType Enrichment Source
Index Database
Publisher
StartPage 363
SubjectTerms Motion planning
Off-line programming
Redundant robot
Spline interpolation
Task oriented programming
Trajectory generation
Title Task-oriented programming of large redundant robot motion
URI https://dx.doi.org/10.1016/S0736-5845(98)00026-X
Volume 14
WOSCitedRecordID wos000078045800004&url=https%3A%2F%2Fcvtisr.summon.serialssolutions.com%2F%23%21%2Fsearch%3Fho%3Df%26include.ft.matches%3Dt%26l%3Dnull%26q%3D
hasFullText 1
inHoldings 1
isFullTextHit
isPrint
journalDatabaseRights – providerCode: PRVESC
  databaseName: Elsevier SD Freedom Collection Journals 2021
  customDbUrl:
  eissn: 1879-2537
  dateEnd: 99991231
  omitProxy: false
  ssIdentifier: ssj0002453
  issn: 0736-5845
  databaseCode: AIEXJ
  dateStart: 19960301
  isFulltext: true
  titleUrlDefault: https://www.sciencedirect.com
  providerName: Elsevier
link http://cvtisr.summon.serialssolutions.com/2.0.0/link/0/eLvHCXMwtV1Lb9QwELaWlgMceBQQLQ_5ABJolbJrO4l9rFBRQaJCZQ-5RY4Ti2q3SZVNS9X_w_9kJnYeBVTogUu08q7tyPPtzGd7HoS8kiwOzZxlARdW49EN_OcMh10rUzZmIdPcumIT8eGhTBL1ZTL50cXCnK_ispQXF-r0v4oa2kDYGDp7A3H3g0IDfAahwxPEDs9_E7xeL4MK0xcjmfT-VyfeuXmFjt_TusDYMVjTaV1lVTN1pXzGPPUI27sEzsZXfgj63BI5er2eYVBEG-U4XO-sm2V79S6AjbtAGnSaReft4cbnW62d6j-qVhZ07thDGL79Xhxfur6fdWm7SqJtgArMe1DUy-rEl3xZ7A6HFhjFN9JqMY8CYD3hFRUsRlALg7FG5V7_OePMXZmV3_S-O4L42g8O7FzJ1wwrorIoSAZj113w_2IDe8_EwekN_d1wqFTJtB0mTW6RTYC2gj3-5t7H_eRTb_KZcOlOu-mHULF3wzu9UfKtf58_k6ARsVk8IPf8joTuOSQ9JJOi3CL3u2of1Cv_LXJ3lLryEVFXYEZHMKOVpS3MaA8z2sKMOpg9JosP-4v3B4EvwxEYHkZNYFgMnFLPMqmMlFnOVcaUyWWUCz3nQmQssnYOUs7VPLcCKaTWMxabIo8iJfkTslFWZfGU0JhFYFsLoENqJgSzqpgZZjCJJdPw23ybiG5ZUuNT1GOllFV6rVi2yW7f7dTlaPlbB9mteeqJpiOQKeDp-q47N53rGbnjwljx1O452Wjqs-IFuW3Om-N1_dID6SeZTZn2
linkProvider Elsevier
openUrl ctx_ver=Z39.88-2004&ctx_enc=info%3Aofi%2Fenc%3AUTF-8&rfr_id=info%3Asid%2Fsummon.serialssolutions.com&rft_val_fmt=info%3Aofi%2Ffmt%3Akev%3Amtx%3Ajournal&rft.genre=article&rft.atitle=Task-oriented+programming+of+large+redundant+robot+motion&rft.jtitle=Robotics+and+computer-integrated+manufacturing&rft.au=Westk%C3%A4mper%2C+Engelbert&rft.au=Schraft%2C+Rolf+Dieter&rft.au=Schweizer%2C+Manfred&rft.au=Fred+Herkommer%2C+T.&rft.date=1998&rft.issn=0736-5845&rft.volume=14&rft.issue=5-6&rft.spage=363&rft.epage=375&rft_id=info:doi/10.1016%2FS0736-5845%2898%2900026-X&rft.externalDBID=n%2Fa&rft.externalDocID=10_1016_S0736_5845_98_00026_X
thumbnail_l http://covers-cdn.summon.serialssolutions.com/index.aspx?isbn=/lc.gif&issn=0736-5845&client=summon
thumbnail_m http://covers-cdn.summon.serialssolutions.com/index.aspx?isbn=/mc.gif&issn=0736-5845&client=summon
thumbnail_s http://covers-cdn.summon.serialssolutions.com/index.aspx?isbn=/sc.gif&issn=0736-5845&client=summon