Die Dozenten der Informatik-Institute der Technischen Universität Braunschweig laden im Rahmen des Informatik-Kolloquiums zu folgendem Vortrag ein:

Dr. Corrado Guarino Lo Bianco, University of Parma, Dip. di Ing. dell'Informazione: Online trajectory scaling for manipulators subject to dynamic constraints

Beginn: 22.09.2010, 15:00 Uhr Ort: TU Braunschweig, Informatikzentrum, Mühlenpfordtstraße 23, Galeriegeschoss, Raum G04 Webseite: http://www.ibr.cs.tu-bs.de/cal/kolloq/2010-09-22-bianco.html Kontakt: Prof. Dr.-Ing. F. M. Wahl

Robotic manipulators are usually driven by means of minimum-time trajectories. Unfortunately, such trajectories strongly solicit the actuators, which dynamic limits could be easily exceeded. Therefore, kinematic and/or dynamic constraints are commonly considered during the off-line planning phase.

Nevertheless, dynamic limits could still be violated during actual operations due to model uncertainties, disturbances or controlled deeds, thus causing a performance loss.

In the seminar, a brief panoramic of the methods used for managing such problems will be given and a method for the online trajectory scaling will be proposed.