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• W1569137576 abstract "This thesis provides new methods for planning and optimization of robotic workplaces,i.e. workplaces with assistance of a robotic system. The robots may work autonomouslyor in cooperation with man. The thesis covers cooperation between multiple robots andlays stress on robots with kinematic redundancy. As highly demanding application area,optimal design and preoperative planning for minimally invasive and open robotic surgeryis chosen.Optimization and planning of robotic workplaces are important instruments to cope withthe increased complexity of today’s robotic applications and to ensure safe operation.Algorithms and devices to facilitate and partially automatize planning and optimizationare, however, barely existent so far – with currently available tools the user mostly has toresort to a trial and error approach. Especially for complicated tasks requiring e.g. severalrobots cooperating in an unstructured environment, it is very improbable that a good (ifat all sufficient) setup of the robotic workplace can be found this way. Therefore, theinclusion of algorithms to automatize the planning procedure as presented in this thesisis the evident next step to be taken.Closed form solutions for inverse kinematics and singularities provide the core of a reliableworkplace optimization system and are developed in this thesis for serial kinematicallyredundant robots. Unlike state of the art methods, the presented inverse kinematics computationdoes not suffer from algorithmic singularities. The thesis describes an accordinglydeveloped software library for inverse kinematics and shows both a planning procedureinvolving the medical robot KineMedic, and a real-time application, providing inversekinematics for Cartesian control of the robotic system Justin with a computation time oflower than 0.6 ms for all 18 considered joints.Based on the closed form solutions, the thesis presents a complete procedure for workplaceoptimization and robot synthesis that uses a two-step algorithm based on Genetic Algorithmsand a subsequent Sequential Quadratic Programming method. The thesis developsseveral optimization criteria and demonstrates the performance of the methods with apreoperative planning procedure as well as with the kinematic design optimization of theKineMedic system.The algorithms implemented in this thesis help the human during the decision takingprocedure, by e.g. providing a preselection of (according to the chosen criteria) goodsolutions or by carrying out an optimization in a certain subspace while leaving the determinationof the remaining parameters to the human. The thesis facilitates the transferof a chosen setup into the real environment using a handheld contact-free surface-basedregistration procedure with an overall worst case error of 3 mm and a new handheld deviceto automatically project relevant structures into the real environment." @default.
• W1569137576 created "2016-06-24" @default.
• W1569137576 creator A5025766738 @default.
• W1569137576 date "2007-01-01" @default.
• W1569137576 modified "2023-09-24" @default.
• W1569137576 title "Planning of Workplaces with Multiple Kinematically Redundant Robots" @default.
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