Optimal Path-Planning in the Special Case of Ball Throwing Using an Industrial Robot

Thomas Raukamp; Klemens Springer; Hubert Gattringer

Optimal Path-Planning in the Special Case of Ball Throwing Using an Industrial Robot

Thomas Raukamp, Klemens Springer, Hubert Gattringer

Institute of Robotics

Research output: Chapter in Book/Report/Conference proceeding › Conference proceedings › peer-review

Abstract

This paper presents optimal path planning in the special case of ball throwing. The task has to be fullfilled by a standard industrial robot with six degrees of freedom, where-fore a parameter identification is conducted. For the purpose of obtaining optimal trajectories fulfilling this exercise, cubic basis splines are used. A nonlinear optimization considering physical constraints as well as the launch angle generates the optimal motion. For the calculation of the balls flight path drag force is included. Results in simulation and at the real robot are shown.

Original language	English
Title of host publication	Proceedings of the Austrian Robotics Workshop 2013
Editors	Wilfried Kubinger, Alexander Hofmann, Friedrich Praus
Pages	61-66
Number of pages	6
Publication status	Published - May 2013

Fields of science

203022 Technical mechanics
203013 Mechanical engineering
202035 Robotics
203015 Mechatronics

JKU Focus areas

Mechatronics and Information Processing

UN SDGs

This output contributes to the following UN Sustainable Development Goals (SDGs)

Cite this

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title = "Optimal Path-Planning in the Special Case of Ball Throwing Using an Industrial Robot",

abstract = "This paper presents optimal path planning in the special case of ball throwing. The task has to be fullfilled by a standard industrial robot with six degrees of freedom, where-fore a parameter identification is conducted. For the purpose of obtaining optimal trajectories fulfilling this exercise, cubic basis splines are used. A nonlinear optimization considering physical constraints as well as the launch angle generates the optimal motion. For the calculation of the balls flight path drag force is included. Results in simulation and at the real robot are shown.",

author = "Thomas Raukamp and Klemens Springer and Hubert Gattringer",

year = "2013",

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language = "English",

isbn = "978-3-200-03095-4",

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booktitle = "Proceedings of the Austrian Robotics Workshop 2013",

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Optimal Path-Planning in the Special Case of Ball Throwing Using an Industrial Robot. / Raukamp, Thomas; Springer, Klemens; Gattringer, Hubert.
Proceedings of the Austrian Robotics Workshop 2013. ed. / Wilfried Kubinger, Alexander Hofmann, Friedrich Praus. 2013. p. 61-66.

Research output: Chapter in Book/Report/Conference proceeding › Conference proceedings › peer-review

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AB - This paper presents optimal path planning in the special case of ball throwing. The task has to be fullfilled by a standard industrial robot with six degrees of freedom, where-fore a parameter identification is conducted. For the purpose of obtaining optimal trajectories fulfilling this exercise, cubic basis splines are used. A nonlinear optimization considering physical constraints as well as the launch angle generates the optimal motion. For the calculation of the balls flight path drag force is included. Results in simulation and at the real robot are shown.

M3 - Conference proceedings

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BT - Proceedings of the Austrian Robotics Workshop 2013

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