Matches in SemOpenAlex for { <https://semopenalex.org/work/W2181921216> ?p ?o ?g. }
Showing items 1 to 96 of
96
with 100 items per page.
- W2181921216 abstract "Haptic devices play an important role in haptic applications. Light Weight Robot III is the latest version of DLR light weight robot. It has seven Degree of Freedom (DoF) with only 14 kg self weight. Seven torque sensors mounted on its joints and one 6 DoF force-torque sensor on the end-effector enable it to precisely sense the external forces. Existing inverse kinematics library is design for a general model of Light Weight Robot III, which is slightly different from the one used as haptic device. This thesis is intended to adapt and optimize this inverse kinematics library for the haptic applications of Light Weight Robot III. It describes the adaptation of the inverse kinematics library to the hardware, which conquered the problems caused by the different configuration of the robot used as haptic device. It realized the null space movement of the robot, which enables the position changing of the intermediate joints due to applied force on it. At last it gives a solution for detecting and avoiding the singular configurations of the robot, which is especial important due to unpredictable trajectory of the end-effector. The simulation and experiment results of improved kinematics library are also shown in this thesis." @default.
- W2181921216 created "2016-06-24" @default.
- W2181921216 creator A5046435773 @default.
- W2181921216 date "2008-01-01" @default.
- W2181921216 modified "2023-09-27" @default.
- W2181921216 title "MASTER'S THESIS Adaptation of the Inverse Kinematics of the DLR Light Weight Robot for Its Use as Haptic Device" @default.
- W2181921216 cites W104801099 @default.
- W2181921216 cites W107023796 @default.
- W2181921216 cites W1503791582 @default.
- W2181921216 cites W1535905504 @default.
- W2181921216 cites W1864838508 @default.
- W2181921216 cites W190584206 @default.
- W2181921216 cites W2031857488 @default.
- W2181921216 cites W2062691475 @default.
- W2181921216 cites W2115763420 @default.
- W2181921216 cites W2141099300 @default.
- W2181921216 cites W2145744986 @default.
- W2181921216 cites W2146252034 @default.
- W2181921216 cites W2153054042 @default.
- W2181921216 cites W2158583539 @default.
- W2181921216 cites W2162189406 @default.
- W2181921216 cites W2246023205 @default.
- W2181921216 cites W599916913 @default.
- W2181921216 hasPublicationYear "2008" @default.
- W2181921216 type Work @default.
- W2181921216 sameAs 2181921216 @default.
- W2181921216 citedByCount "0" @default.
- W2181921216 crossrefType "journal-article" @default.
- W2181921216 hasAuthorship W2181921216A5046435773 @default.
- W2181921216 hasConcept C121332964 @default.
- W2181921216 hasConcept C127413603 @default.
- W2181921216 hasConcept C1276947 @default.
- W2181921216 hasConcept C13662910 @default.
- W2181921216 hasConcept C144171764 @default.
- W2181921216 hasConcept C152086174 @default.
- W2181921216 hasConcept C154945302 @default.
- W2181921216 hasConcept C17816587 @default.
- W2181921216 hasConcept C19966478 @default.
- W2181921216 hasConcept C2775924081 @default.
- W2181921216 hasConcept C31972630 @default.
- W2181921216 hasConcept C39920418 @default.
- W2181921216 hasConcept C41008148 @default.
- W2181921216 hasConcept C44154836 @default.
- W2181921216 hasConcept C47446073 @default.
- W2181921216 hasConcept C74222875 @default.
- W2181921216 hasConcept C74650414 @default.
- W2181921216 hasConcept C8652668 @default.
- W2181921216 hasConcept C90509273 @default.
- W2181921216 hasConcept C97355855 @default.
- W2181921216 hasConceptScore W2181921216C121332964 @default.
- W2181921216 hasConceptScore W2181921216C127413603 @default.
- W2181921216 hasConceptScore W2181921216C1276947 @default.
- W2181921216 hasConceptScore W2181921216C13662910 @default.
- W2181921216 hasConceptScore W2181921216C144171764 @default.
- W2181921216 hasConceptScore W2181921216C152086174 @default.
- W2181921216 hasConceptScore W2181921216C154945302 @default.
- W2181921216 hasConceptScore W2181921216C17816587 @default.
- W2181921216 hasConceptScore W2181921216C19966478 @default.
- W2181921216 hasConceptScore W2181921216C2775924081 @default.
- W2181921216 hasConceptScore W2181921216C31972630 @default.
- W2181921216 hasConceptScore W2181921216C39920418 @default.
- W2181921216 hasConceptScore W2181921216C41008148 @default.
- W2181921216 hasConceptScore W2181921216C44154836 @default.
- W2181921216 hasConceptScore W2181921216C47446073 @default.
- W2181921216 hasConceptScore W2181921216C74222875 @default.
- W2181921216 hasConceptScore W2181921216C74650414 @default.
- W2181921216 hasConceptScore W2181921216C8652668 @default.
- W2181921216 hasConceptScore W2181921216C90509273 @default.
- W2181921216 hasConceptScore W2181921216C97355855 @default.
- W2181921216 hasLocation W21819212161 @default.
- W2181921216 hasOpenAccess W2181921216 @default.
- W2181921216 hasPrimaryLocation W21819212161 @default.
- W2181921216 hasRelatedWork W1515565753 @default.
- W2181921216 hasRelatedWork W1521544292 @default.
- W2181921216 hasRelatedWork W173761516 @default.
- W2181921216 hasRelatedWork W2050939801 @default.
- W2181921216 hasRelatedWork W2119663139 @default.
- W2181921216 hasRelatedWork W2128671915 @default.
- W2181921216 hasRelatedWork W2152720336 @default.
- W2181921216 hasRelatedWork W2156412589 @default.
- W2181921216 hasRelatedWork W2159374324 @default.
- W2181921216 hasRelatedWork W2341236427 @default.
- W2181921216 hasRelatedWork W2556952392 @default.
- W2181921216 hasRelatedWork W2772653217 @default.
- W2181921216 hasRelatedWork W3018121644 @default.
- W2181921216 hasRelatedWork W3046757272 @default.
- W2181921216 hasRelatedWork W3090861724 @default.
- W2181921216 hasRelatedWork W3114692877 @default.
- W2181921216 hasRelatedWork W3116598312 @default.
- W2181921216 hasRelatedWork W3197907074 @default.
- W2181921216 hasRelatedWork W2067044980 @default.
- W2181921216 hasRelatedWork W3116771557 @default.
- W2181921216 isParatext "false" @default.
- W2181921216 isRetracted "false" @default.
- W2181921216 magId "2181921216" @default.
- W2181921216 workType "article" @default.