Volltext-Downloads (blau) und Frontdoor-Views (grau)
The search result changed since you submitted your search request. Documents might be displayed in a different sort order.
  • search hit 19 of 70
Back to Result List

Composable Robot Motion Stack

  • Over the last 50 years, the controlled motion of robots has become a very mature domain of expertise. It can deal with all sorts of topologies and types of joints and actuators, with kinematic as well as dynamic models of devices, and with one or several tools or sensors attached to the mechanical structure. Nevertheless, the domain has not succeeded in standardizing the modelling of robot devices (including such fundamental entities as “reference frames”!), let alone the semantics of their motion specification and control. This thesis aims to solve this long-standing problem, from three different sides: semantic models for robot kinematics and dynamics, semantic models of all possible motion specification and control problems, and software that can support the latter while being configured by a systematic use of the former.

Export metadata

Additional Services

Search Google Scholar Check availability

Statistics

Show usage statistics
Metadaten
Document Type:Doctoral Thesis
Language:English
Author:Azamat Shakhimardanov
Subtitle (English):Implementing Constrained Hybrid Dynamics using Semantic Models of Kinematic Chains
URL:https://lirias.kuleuven.be/handle/123456789/514287
Supervisor:Herman Bruyninckx, Gerhard Kraetzschmar, Erwin Prassler
Contributing Corporation:KU Leuven
Publication year:2015
Funding:This work was supported by KU Leuven’s Concerted Research Action GOA/2010/011, and European FP7 projects RoboHow (FP7-ICT-288533), BRICS (FP7-ICT-231940), Rosetta (FP7-ICT-230902), and Pick-n-Pack (FP7-311987).
Departments, institutes and facilities:Fachbereich Informatik
Graduierteninstitut
Projects:BRICS Best Practice in Robotics (EC/FP7/231940)
Dewey Decimal Classification (DDC):0 Informatik, Informationswissenschaft, allgemeine Werke / 00 Informatik, Wissen, Systeme / 004 Datenverarbeitung; Informatik
Entry in this database:2016/04/14