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Parameteridentifikation, Bahnoptimierung und Echtzeitsteuerung von Robotern in der industriellen Anwendung

In: Mathematik Schlüsseltechnologie für die Zukunft

Author

Listed:
  • H. J. Pesch

    (Institut für Mathematik, Technische Universität Clausthal)

  • A. Heim

    (Mathematisches Institut, Technische Universität München)

  • O. von Stryk

    (Mathematisches Institut, Technische Universität München)

  • H. Schäffler

    (BMW AG)

  • K. Scheuer

    (BMW AG)

Abstract

A way for the improvement of roboter based production lines of cars using mathematical optimization methods is outlined. The complete task is subdivided into several related mathematical subproblems, namely the modeling of the dynamical system and of the constraints, the identification of unknown parameters, the robot trajectory optimization by methods of optimal control, and the aspects of real-time control implementation, visualization, and computer simulation.

Suggested Citation

  • H. J. Pesch & A. Heim & O. von Stryk & H. Schäffler & K. Scheuer, 1997. "Parameteridentifikation, Bahnoptimierung und Echtzeitsteuerung von Robotern in der industriellen Anwendung," Springer Books, in: Karl-Heinz Hoffmann & Willi Jäger & Thomas Lohmann & Hermann Schunck (ed.), Mathematik Schlüsseltechnologie für die Zukunft, pages 551-564, Springer.
    • Handle: RePEc:spr:sprchp:978-3-642-60550-5_45
    DOI: 10.1007/978-3-642-60550-5_45
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