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Planning of workplaces with multiple kinematically redundant robots [Elektronische Ressource] / Rainer Konietschke


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Planning of Workplaces withMultiple Kinematically Redundant RobotsRainer Konietschke2007Lehrstuhl für Realzeit-ComputersystemeTechnische Universität MünchenPlanning of Workplaces withMultiple Kinematically Redundant RobotsRainer KonietschkeVollständiger Abdruck der von der Fakultät für Elektrotechnik und Informationstechnik derTechnischen Universität München zur Erlangung des akademischen Grades einesDoktor-Ingenieursgenehmigten Dissertation.Vorsitzender: Univ.-Prof. Dr.-Ing. Eckehard SteinbachPrüfer der Dissertation:1. Hon.-Prof. Dr.-Ing. Gerd Hirzinger2. Univ.-Prof. Georg FärberDieDissertationwurdeam18.6.2007beiderTechnischenUniversitätMüncheneingereichtunddurch die Fakultät für Elektrotechnik und Informationstechnik am 10.12.2007 angenommen.iiiivAbstractThis 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.



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Published 01 January 2007
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Language English
Document size 47 MB