Title :
A general approach for simulating robots for flexible material handling
Author :
Rogalla, O. ; Dillmann, R. ; Frugoli, G. ; Bordegoni, M.
Author_Institution :
Inst. for Process Control & Robotics, Karlsruhe Univ., Germany
Abstract :
Kinematic modelling of robots and flexible material simulation have been an important aspect in robotic research issues over the last years. In this article a new approach for the design of arbitrary gripper and robot architectures are presented. It is shown how these robot systems can be simulated based on the presented design structure. Further, the integration of flexible material simulation is displayed. A particle based object models are shown and the mathematical basics described. Finally, the integration of the flexible material simulation into the robot simulation software is given and evaluated
Keywords :
computerised control; digital simulation; manipulator kinematics; solid modelling; 3D surface model; flexible object manipulation; gripper; kinematic model; object models; robot manipulator; simulation; Deformable models; Grippers; Kinematics; Libraries; Manipulator dynamics; Materials handling; Object oriented modeling; Packaging; Robots; Solid modeling;
Conference_Titel :
Assembly and Task Planning, 1999. (ISATP '99) Proceedings of the 1999 IEEE International Symposium on
Conference_Location :
Porto
Print_ISBN :
0-7803-5704-3
DOI :
10.1109/ISATP.1999.782961
