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@PHDTHESIS{Detert:728622,
      author       = {Detert, Tim},
      othercontributors = {Corves, Burkhard and Schmitt, Robert Heinrich},
      title        = {{K}inematic accuracy and self-calibration of an object
                      integrative handling system; 1. {A}uflage},
      school       = {RWTH Aachen University},
      type         = {Dissertation},
      address      = {Aachen},
      publisher    = {Apprimus Verlag},
      reportid     = {RWTH-2018-225790},
      isbn         = {978-3-86359-631-6},
      series       = {Apprimus Edition Wissenschaft},
      pages        = {1 Online-Ressource (118, xxiii Seiten) : Illustrationen},
      year         = {2018},
      note         = {Veröffentlicht auf dem Publikationsserver der RWTH Aachen
                      University; Dissertation, RWTH Aachen University, 2018},
      abstract     = {The cooperative manipulation of rigid objects with
                      industrial robots leads to redundant actuation, which is a
                      challenging configuration for the control of cooperating
                      robots. In such a configuration, the object is connected to
                      multiple robots and integrated into the kinematic structure,
                      resulting in actuation redundancy. Inaccuracies of the
                      robots and tolerances of the object lead to deviations of
                      the grasp points at the object that cannot be determined
                      precisely. These deviations of the kinematics model from the
                      real system are amplified due to coupling effects. This
                      consequently results in inadequate object positioning and
                      causes internal tensioning of the overall structure. A
                      recent example of this object integration is the PARAGRIP
                      handling system that was investigated in this thesis.
                      Today’s control and calibration approaches, however, do
                      not target the identification of the uncertain grasp points.
                      Accordingly, in this thesis a kinematic calibration
                      procedure for the PARAGRIP robotic arms and a
                      self-calibration procedure for the object integrative
                      handling system were developed to identify the actual grasp
                      points at the object. The kinematic calibration was
                      investigated for a mathematically efficient serial and a
                      hybrid kinematics mod-el, both including the compensation of
                      gravitational effects. The choice of identification points
                      and the optimization residual were investigated and the
                      limited absolute accuracy of the PARAGRIP arms could be
                      improved significantly based on the findings. In the context
                      of the kinematic calibration, a new stiffness modeling
                      approach was implemented by extending the concept of Matrix
                      Structure Analysis. The implemented modeling approach allows
                      for the automatic calculation of arbitrary kinematic
                      structures and the compensation of the gravitational
                      deformations. Furthermore, a new self-calibration method for
                      the object integrative handling system was developed based
                      on the combination of direct and inverse kinematic
                      calculations. The redundant sensor-information of the
                      cooperating robots is evaluated to identify the actual grasp
                      points at the integrated object, to increase the system
                      accuracy and to limit the impact of the coupling effects.
                      The sensitivity and influencing factors of the method were
                      investigated and verified in simulations. The results show
                      that the available redundant sensor information for object
                      integrative robots or handling systems can be used to
                      identify the grasp points at the object and compensate the
                      internal inaccuracies automatically. The application of
                      self-calibration to object integrative handling systems
                      allows for an efficient and easy way of reconfiguration and
                      calibration without additional external metrology. This
                      offers the opportunity to extend the capabilities of
                      cooperating robots and reduces the demand for complex robot
                      control. The re-search and results described in this thesis
                      yielded new findings for the PARAGRIP handling system, which
                      can be generalized for every object integrative handling
                      system with redundant actuation, in particular cooperating
                      industrial robots.},
      cin          = {411910},
      ddc          = {620},
      cid          = {$I:(DE-82)411910_20140620$},
      pnm          = {DFG project 25065172 - EXC 128: Integrative
                      Produktionstechnik für Hochlohnländer (25065172)},
      pid          = {G:(GEPRIS)25065172},
      typ          = {PUB:(DE-HGF)3 / PUB:(DE-HGF)11},
      doi          = {10.18154/RWTH-2018-225790},
      url          = {https://publications.rwth-aachen.de/record/728622},
}