finished Grundlagen

be5fcbbd · Jim · a2f695cb · be5fcbbd · be5fcbbd · be5fcbbd
Commit be5fcbbd authored Dec 11, 2020 by Jim
--- a/Robotic Constrains.bib
+++ b/Robotic Constrains.bib
+@article{zhang_obstacle_2003,
+	title = {Obstacle {Avoidance} for {Manipulators}},
+	volume = {43},
+	issn = {0232-9298},
+	url = {http://www.tandfonline.com/doi/abs/10.1080/0232929031000116344},
+	doi = {10.1080/0232929031000116344},
+	abstract = {•	Pfadbestimmung kann eingeschränkt werden durch das Hinzufügen von Zwischenpunkten
+•	Zur Planung muss bekannt sein:
+o	Modell des Manipulators
+o	Arbeitsbereich
+o	Alle potenziellen Hindernisse
+o	-{\textgreater} Zweiter Manipulator ist ebenfalls ein Hindernis
+•	Alle Hindernisse mit einer Sphäre umschließen, da einfachere Beschreibung und schnellere Berechnung möglich
+•	Constraint: Der Endeffektor und alle Links des Roboters dürfen die Sphäre nicht schneiden
+•	Um die Entfernung des Links zur Sphäre zu bestimmen wird die Entfernung des nächsten Punktes im Link zur Sphäre berechnet},
+	language = {en},
+	number = {1},
+	urldate = {2020-11-08},
+	journal = {Systems Analysis Modelling Simulation},
+	author = {Zhang, Wei and Sobh, Tarek M.},
+	month = jan,
+	year = {2003},
+	pages = {67--74},
+	file = {Zhang und Sobh - 2003 - Obstacle Avoidance for Manipulators.pdf:C\:\\Users\\jimmo\\Zotero\\storage\\ZR4B7JG3\\Zhang und Sobh - 2003 - Obstacle Avoidance for Manipulators.pdf:application/pdf},
+}
+@article{gupta_nature_1986,
+	title = {On the {Nature} of {Robot} {Workspace}},
+	volume = {5},
+	issn = {0278-3649},
+	url = {https://doi.org/10.1177/027836498600500212},
+	doi = {10.1177/027836498600500212},
+	abstract = {•	Arbeitsbereich kann in Primären und Sekundären Bereich geteilt werden
+•	Primär: Alle Orientierungen des Endeffektors sind möglich
+•	Sekundär: Orientierung des Endeffektors ist eingeschränkt
+•	Primärer Arbeitsbereich wird auch durch die Größe des Endeffektors bestimmt
+•	Gelenk Range bestimmt Arbeitsbereich},
+	number = {2},
+	urldate = {2020-11-08},
+	journal = {The International Journal of Robotics Research},
+	author = {Gupta, K.C.},
+	month = jun,
+	year = {1986},
+	note = {Publisher: SAGE Publications Ltd STM},
+	pages = {112--121},
+	file = {SAGE PDF Full Text:C\:\\Users\\jimmo\\Zotero\\storage\\AGSYU8PK\\Gupta - 1986 - On the Nature of Robot Workspace.pdf:application/pdf},
+}
+@article{posypkin_automated_2019,
+	title = {Automated {Robot}’s {Workspace} {Approximation}},
+	volume = {1163},
+	issn = {1742-6588, 1742-6596},
+	url = {https://iopscience.iop.org/article/10.1088/1742-6596/1163/1/012050},
+	doi = {10.1088/1742-6596/1163/1/012050},
+	abstract = {•	Arbeitsbereich ist die Menge an Positionen, die ein Roboter einnehmen kann
+•	Maximierung des Arbeitsbereichs ist Design Ziel
+•	Manuelle Bestimmung ist aufwendig und fehlerbehaftet
+•	Bestimmt den vom Roboter bedienbaren Bereich
+•	Ist wichtig zur optimalen Pfadplanung
+•	Algorithmus:
+1.	Der betrachtete Bereich wird als Box dargestellt und in einer Liste gespeichert
+2.	Solange die liste nicht leer ist, wird eine Box aus der Liste entfernt und überprüft, ob die kinematischen Gleichungen durch einen Punkt in der Box erfüllt werden können
+	Ja: Größe der Box erfüllt Genauigkeit -{\textgreater} Box wird zur Arbeitsbereichsliste hinzugefügt
+	Nein: Box wird halbiert und beide Teilboxen wieder an L angefügt},
+	language = {en},
+	urldate = {2020-11-08},
+	journal = {Journal of Physics: Conference Series},
+	author = {Posypkin, Mikhail},
+	month = feb,
+	year = {2019},
+	pages = {012050},
+	file = {Posypkin - 2019 - Automated Robot’s Workspace Approximation.pdf:C\:\\Users\\jimmo\\Zotero\\storage\\ZUTNFYQ9\\Posypkin - 2019 - Automated Robot’s Workspace Approximation.pdf:application/pdf},
+}
+@inproceedings{shujun_lu_human-robot_2005,
+	title = {Human-{Robot} {Collision} {Detection} and {Identification} {Based} on {Wrist} and {Base} {Force}/{Torque} {Sensors}},
+	doi = {10.1109/ROBOT.2005.1570699},
+	abstract = {•	Neuronales Netz zur Kollisionserkennung 
+•	Konventionelle Roboter arbeiten schnell und präzise aber können nicht auf Änderungen in der Umgebung (zB Menschen) reagieren
+•	Roboter müssen auch sicher mit Menschen zusammenarbeiten, die nicht im Umgang mit Robotern geschult worden sind
+•	Zu viele Sicherheitsmaßnahmen können aber der Effizienz/Genauigkeit und Geschwindigkeit schaden
+•	Statt eines Notstopps bei Kollision oder Näherung mit einem Menschen sollte lediglich die Aufgebrachte Kraft reduziert werden um Verletzungen zu vermeiden, bis der Mensch wieder in sicherer Entfernung ist
+•	Menschliche Schmerztoleranz bei 50N
+•	Drehmomentsensoren an Endeffektor und Basis
+•	Sensor an der Basis wird nicht von inneren Kräften, wie Reibung an den Gelenken beeinflusst
+•	Eine kurze Historie vergangener Gelenkwinkel zur Bestimmung von v und a und die gemessenen Drehmomentwerte als Eingangsparameter für NN
+•	Ausgangswerte sind Kollisionskräfte und Kontaktpunkte
+•	Trainingsdaten können mit einem virtuellen Modell des Systems gesammelt werden
+•	-{\textgreater} Kontakt wird schon zu Beginn der Kollision festgestellt und reagiert werden, ohne dass ein Notstopp notwendig ist},
+	booktitle = {Proceedings of the 2005 {IEEE} {International} {Conference} on {Robotics} and {Automation}},
+	author = {{Shujun Lu} and Chung, J. H. and Velinsky, S. A.},
+	month = apr,
+	year = {2005},
+	note = {ISSN: 1050-4729},
+	keywords = {Base and Wrist Force/torque sensor, Collision, Detection, Force sensors, Human, Humans, Identification, Manipulator, Manipulators, Mechanical sensors, Orbital robotics, Robot sensing systems, Safety, Service robots, Torque, Wrist},
+	pages = {3796--3801},
+	file = {IEEE Xplore Full Text PDF:C\:\\Users\\jimmo\\Zotero\\storage\\3E8DLDBF\\Shujun Lu et al. - 2005 - Human-Robot Collision Detection and Identification.pdf:application/pdf;IEEE Xplore Abstract Record:C\:\\Users\\jimmo\\Zotero\\storage\\JWHRYBT7\\1570699.html:text/html},
+}
+@inproceedings{maderna_robotic_2018,
+	title = {Robotic {Handling} of {Liquids} with {Spilling} {Avoidance}: {A} {Constraint}-{Based} {Control} {Approach}},
+	shorttitle = {Robotic {Handling} of {Liquids} with {Spilling} {Avoidance}},
+	doi = {10.1109/ICRA.2018.8460927},
+	abstract = {Handling liquids with spilling avoidance is a topic of interest for a broad range of fields, both in industry and in service robotic applications. In this paper we present a new control architecture for motion planning of industrial robots, able to tackle the problem of liquid transfer with sloshing control. We do not focus on a complete sloshing suppression, but we show how to enforce an anti spilling constraint. This less conservative approach allows to impose higher accelerations, reducing motion time. A constraint-based approach, amenable to an Online implementation, has been developed. The proposed controller generates trajectories in real time, in order to follow a reference path, while being compliant to the spilling avoidance constraint. The approach has been validated on a 6 degree of freedom industrial ABB robot.},
+	booktitle = {2018 {IEEE} {International} {Conference} on {Robotics} and {Automation} ({ICRA})},
+	author = {Maderna, R. and Casalino, A. and Zanchettin, A. M. and Rocco, P.},
+	month = may,
+	year = {2018},
+	note = {ISSN: 2577-087X},
+	keywords = {Acceleration, anti spilling constraint, constraint-based control, Containers, handling liquids, industrial ABB robot, industrial manipulators, liquid transfer, Liquids, materials handling, motion control, motion planning, Optimization, path planning, robotic manipulators, Robots, service robotic applications, sloshing, sloshing control, sloshing suppression, spilling avoidance constraint, Task analysis, Trajectory},
+	pages = {7414--7420},
+	file = {IEEE Xplore Full Text PDF:C\:\\Users\\jimmo\\Zotero\\storage\\88GZF9LK\\Maderna et al. - 2018 - Robotic Handling of Liquids with Spilling Avoidanc.pdf:application/pdf;IEEE Xplore Abstract Record:C\:\\Users\\jimmo\\Zotero\\storage\\5XGBI4NY\\8460927.html:text/html},
+}
+@article{pan_robot_nodate,
+	title = {Robot {Motion} {Planning} for {Pouring} {Liquids}},
+	abstract = {We present a new algorithm to compute a collision-free trajectory for a robot manipulator to pour liquid from one container to the other. Our formulation uses a physical ﬂuid model to predicate its highly deformable motion. We present simulation guided and optimization based method to automatically compute the transferring trajectory. Instead of abstract or simpliﬁed liquid models, we use the full-featured and accurate Navier-Stokes model that provides the ﬁne-grained information of velocity distribution inside the liquid body. Moreover, this information is used as an additional guiding energy term for the planner. One of our key contributions is the tight integration between the ﬁne-grained ﬂuid simulator, liquid transfer controller, and the optimization-based planner. We have implemented the method using hybrid particle-mesh ﬂuid simulator (FLIP) and demonstrated its performance on 4 benchmarks, with different cup shapes and viscosity coefﬁcients.},
+	language = {en},
+	author = {Pan, Zherong and Park, Chonhyon and Manocha, Dinesh},
+	pages = {9},
+	file = {Pan et al. - Robot Motion Planning for Pouring Liquids.pdf:C\:\\Users\\jimmo\\Zotero\\storage\\K5BNRL8M\\Pan et al. - Robot Motion Planning for Pouring Liquids.pdf:application/pdf},
+}
+@article{hartz_adaptive_nodate,
+	title = {Adaptive {Pouring} of {Liquids} {Based} on {Human} {Motions} {Using} a {Robotic} {Arm}},
+	abstract = {Pouring of ﬂuids is a complicated task in robotics that requires a lot of information about the environment. It is therefore often implemented in a static way in order not to deal with its whole complexity.},
+	author = {Hartz, Jeremias Kornelius},
+	pages = {76},
+	file = {Hartz - Adaptive Pouring of Liquids Based on Human Motions.pdf:C\:\\Users\\jimmo\\Zotero\\storage\\IBKCG7YC\\Hartz - Adaptive Pouring of Liquids Based on Human Motions.pdf:application/pdf},
+}
+@inproceedings{jain_grasp_2016,
+	address = {Stockholm, Sweden},
+	title = {Grasp detection for assistive robotic manipulation},
+	isbn = {978-1-4673-8026-3},
+	url = {http://ieeexplore.ieee.org/document/7487348/},
+	doi = {10.1109/ICRA.2016.7487348},
+	abstract = {In this paper, we present a novel grasp detection algorithm targeted towards assistive robotic manipulation systems. We consider the problem of detecting robotic grasps using only the raw point cloud depth data of a scene containing unknown objects, and apply a geometric approach that categorizes objects into geometric shape primitives based on an analysis of local surface properties. Grasps are detected without a priori models, and the approach can generalize to any number of novel objects that fall within the shape primitive categories. Our approach generates multiple candidate object grasps, which moreover are semantically meaningful and similar to what a human would generate when teleoperating the robot—and thus should be suitable manipulation goals for assistive robotic systems. An evaluation of our algorithm on 30 household objects includes a pilot user study, conﬁrms the robustness of the detected grasps and was conducted in real-world experiments using an assistive robotic arm.},
+	language = {en},
+	urldate = {2020-11-08},
+	booktitle = {2016 {IEEE} {International} {Conference} on {Robotics} and {Automation} ({ICRA})},
+	publisher = {IEEE},
+	author = {Jain, Siddarth and Argall, Brenna},
+	month = may,
+	year = {2016},
+	pages = {2015--2021},
+	file = {Jain und Argall - 2016 - Grasp detection for assistive robotic manipulation.pdf:C\:\\Users\\jimmo\\Zotero\\storage\\XGNHN7VF\\Jain und Argall - 2016 - Grasp detection for assistive robotic manipulation.pdf:application/pdf},
+}
+@inproceedings{matthias_safety_2011,
+	title = {Safety of collaborative industrial robots: {Certification} possibilities for a collaborative assembly robot concept},
+	shorttitle = {Safety of collaborative industrial robots},
+	doi = {10.1109/ISAM.2011.5942307},
+	abstract = {•	Kollaborative Arbeit ohne physische oder sensorische Sicherheitsmechanismen
+•	Arbeitsbereiche überschneiden sich
+•	Zu jeder Zeit harmlos erreicht durch Mischung von Maßnahmen:
+•	Technische Constraints:
+o	Echtzeit Wahrnehmung der Umgebung und entsprechende Anpassung
+o	Softwarebasierte Kollisionserkennung, manuelle „back-drivability“
+o	Leistungs- und Geschwindigkeitsbegrenzungen
+•	Sicherheitsmaßnahmen:
+o	Niedrige Nutzlast und Trägheit
+o	Verletzungsvermeidendes mechanisches Design und Soft Padding
+o	Sicherheitsausrüstung},
+	booktitle = {2011 {IEEE} {International} {Symposium} on {Assembly} and {Manufacturing} ({ISAM})},
+	author = {Matthias, B. and Kock, S. and Jerregard, H. and Kallman, M. and Lundberg, I. and Mellander, R.},
+	month = may,
+	year = {2011},
+	keywords = {Service robots, assembling, certification, certification possibilities, Collaboration, collaborative assembly robot concept, collaborative industrial robots, Hazards, human-robot collaboration, industrial requirements, industrial robots, Injuries, ISO 10218, occupational safety, personnel safety, risk assessment, risk management, Risk management, scalable robotic automation, shared workspaces},
+	pages = {1--6},
+	file = {IEEE Xplore Full Text PDF:C\:\\Users\\jimmo\\Zotero\\storage\\T3WDVR2T\\Matthias et al. - 2011 - Safety of collaborative industrial robots Certifi.pdf:application/pdf;IEEE Xplore Abstract Record:C\:\\Users\\jimmo\\Zotero\\storage\\FQHX6T4R\\5942307.html:text/html},
+}
+@article{berenson_constrained_nodate,
+	title = {Constrained {Manipulation} {Planning}},
+	language = {en},
+	author = {Berenson, Dmitry},
+	pages = {186},
+	file = {Berenson - Constrained Manipulation Planning.pdf:C\:\\Users\\jimmo\\Zotero\\storage\\L7MNVJ8H\\Berenson - Constrained Manipulation Planning.pdf:application/pdf},
+}
+@incollection{hutchison_constraint-based_2007,
+	address = {Berlin, Heidelberg},
+	title = {Constraint-{Based} {Workflow} {Models}: {Change} {Made} {Easy}},
+	volume = {4803},
+	isbn = {978-3-540-76846-3 978-3-540-76848-7},
+	shorttitle = {Constraint-{Based} {Workflow} {Models}},
+	url = {http://link.springer.com/10.1007/978-3-540-76848-7_7},
+	abstract = {The degree of ﬂexibility of workﬂow management systems heavily inﬂuences the way business processes are executed. Constraint-based models are considered to be more ﬂexible than traditional models because of their semantics: everything that does not violate constraints is allowed. Although constraint-based models are ﬂexible, changes to process deﬁnitions might be needed to comply with evolving business domains and exceptional situations. Flexibility can be increased by run-time support for dynamic changes – transferring instances to a new model – and ad-hoc changes – changing the process deﬁnition for one instance. In this paper we propose a general framework for a constraint-based process modeling language and its implementation. Our approach supports both ad-hoc and dynamic change, and the transfer of instances can be done easier than in traditional approaches.},
+	language = {en},
+	urldate = {2020-11-12},
+	booktitle = {On the {Move} to {Meaningful} {Internet} {Systems} 2007: {CoopIS}, {DOA}, {ODBASE}, {GADA}, and {IS}},
+	publisher = {Springer Berlin Heidelberg},
+	author = {Pesic, M. and Schonenberg, M. H. and Sidorova, N. and van der Aalst, W. M. P.},
+	editor = {Hutchison, David and Kanade, Takeo and Kittler, Josef and Kleinberg, Jon M. and Mattern, Friedemann and Mitchell, John C. and Naor, Moni and Nierstrasz, Oscar and Pandu Rangan, C. and Steffen, Bernhard and Sudan, Madhu and Terzopoulos, Demetri and Tygar, Doug and Vardi, Moshe Y. and Weikum, Gerhard and Meersman, Robert and Tari, Zahir},
+	year = {2007},
+	doi = {10.1007/978-3-540-76848-7_7},
+	note = {Series Title: Lecture Notes in Computer Science},
+	pages = {77--94},
+	file = {Pesic et al. - 2007 - Constraint-Based Workflow Models Change Made Easy.pdf:C\:\\Users\\jimmo\\Zotero\\storage\\T88YFS7R\\Pesic et al. - 2007 - Constraint-Based Workflow Models Change Made Easy.pdf:application/pdf},
+}
+@article{froschauer_roman_workflow-based_nodate,
+	title = {Workflow-based programming of human-robot interaction for collaborative assembly stations},
+	url = {https://openlib.tugraz.at/download.php?id=5d09dba11e32d&location=medra},
+	doi = {10.3217/978-3-85125-663-5-14},
+	abstract = {In certain domains manual assembly of products is still a key success factor considering quality and ﬂexibility. Especially when thinking of ﬂexibility traditional, fully automated assembly using specialized robot stations is mostly not feasible for small lot sizes due to high costs for programming and mechanical adaptations. In the last years collaborative robots (cobots) entered the market to broaden the way for robotassisted manual assembly. The idea was to use the robot for small repetitive tasks at the manual assembly station and keep the human factor for dealing with ﬂexibility. Unfortunately most of the new cobots came with the same programming system as their ancient relatives. Thinking of human-robot collaboration these traditional approaches do not consider the human factor at the assembly station. Therefore, this paper presents a new approach, called Human Robot Time and Motion (HRTM) providing a modeling language providing generic basic elements which can be performed by a human worker or a robot. Correspondingly a workﬂow-oriented programming model and a prototypical development environment featuring BPMN and MQTT is presented.},
+	language = {en},
+	urldate = {2020-11-13},
+	author = {Froschauer, Roman and Lindorfer, Rene},
+	note = {ISBN: 9783851256635
+Publisher: Verlag der Technischen Universität Graz},
+	file = {Froschauer, Roman und Lindorfer, Rene - Workflow-based programming of human-robot interact.pdf:C\:\\Users\\jimmo\\Zotero\\storage\\4BHXXD2H\\Froschauer, Roman und Lindorfer, Rene - Workflow-based programming of human-robot interact.pdf:application/pdf},
+}
+@inproceedings{maderna_robotic_2018-1,
+	title = {Robotic {Handling} of {Liquids} with {Spilling} {Avoidance}: {A} {Constraint}-{Based} {Control} {Approach}},
+	shorttitle = {Robotic {Handling} of {Liquids} with {Spilling} {Avoidance}},
+	doi = {10.1109/ICRA.2018.8460927},
+	abstract = {Handling liquids with spilling avoidance is a topic of interest for a broad range of fields, both in industry and in service robotic applications. In this paper we present a new control architecture for motion planning of industrial robots, able to tackle the problem of liquid transfer with sloshing control. We do not focus on a complete sloshing suppression, but we show how to enforce an anti spilling constraint. This less conservative approach allows to impose higher accelerations, reducing motion time. A constraint-based approach, amenable to an Online implementation, has been developed. The proposed controller generates trajectories in real time, in order to follow a reference path, while being compliant to the spilling avoidance constraint. The approach has been validated on a 6 degree of freedom industrial ABB robot.},
+	booktitle = {2018 {IEEE} {International} {Conference} on {Robotics} and {Automation} ({ICRA})},
+	author = {Maderna, R. and Casalino, A. and Zanchettin, A. M. and Rocco, P.},
+	month = may,
+	year = {2018},
+	note = {ISSN: 2577-087X},
+	keywords = {Acceleration, anti spilling constraint, constraint-based control, Containers, handling liquids, industrial ABB robot, industrial manipulators, liquid transfer, Liquids, materials handling, motion control, motion planning, Optimization, path planning, robotic manipulators, Robots, service robotic applications, sloshing, sloshing control, sloshing suppression, spilling avoidance constraint, Task analysis, Trajectory},
+	pages = {7414--7420},
+	file = {IEEE Xplore Full Text PDF:C\:\\Users\\jimmo\\Zotero\\storage\\ZSAYCM2T\\Maderna et al. - 2018 - Robotic Handling of Liquids with Spilling Avoidanc.pdf:application/pdf},
+}
+@inproceedings{maderna_robotic_2018-2,
+	title = {Robotic {Handling} of {Liquids} with {Spilling} {Avoidance}: {A} {Constraint}-{Based} {Control} {Approach}},
+	shorttitle = {Robotic {Handling} of {Liquids} with {Spilling} {Avoidance}},
+	doi = {10.1109/ICRA.2018.8460927},
+	abstract = {Handling liquids with spilling avoidance is a topic of interest for a broad range of fields, both in industry and in service robotic applications. In this paper we present a new control architecture for motion planning of industrial robots, able to tackle the problem of liquid transfer with sloshing control. We do not focus on a complete sloshing suppression, but we show how to enforce an anti spilling constraint. This less conservative approach allows to impose higher accelerations, reducing motion time. A constraint-based approach, amenable to an Online implementation, has been developed. The proposed controller generates trajectories in real time, in order to follow a reference path, while being compliant to the spilling avoidance constraint. The approach has been validated on a 6 degree of freedom industrial ABB robot.},
+	booktitle = {2018 {IEEE} {International} {Conference} on {Robotics} and {Automation} ({ICRA})},
+	author = {Maderna, R. and Casalino, A. and Zanchettin, A. M. and Rocco, P.},
+	month = may,
+	year = {2018},
+	note = {ISSN: 2577-087X},
+	keywords = {Acceleration, anti spilling constraint, constraint-based control, Containers, handling liquids, industrial ABB robot, industrial manipulators, liquid transfer, Liquids, materials handling, motion control, motion planning, Optimization, path planning, robotic manipulators, Robots, service robotic applications, sloshing, sloshing control, sloshing suppression, spilling avoidance constraint, Task analysis, Trajectory},
+	pages = {7414--7420},
+}
+@article{zhihua_qu_new_2004,
+	title = {A new analytical solution to mobile robot trajectory generation in the presence of moving obstacles},
+	volume = {20},
+	issn = {1941-0468},
+	doi = {10.1109/TRO.2004.829461},
+	abstract = {The problem of determining a collision-free path for a mobile robot moving in a dynamically changing environment is addressed in this paper. By explicitly considering a kinematic model of the robot, the family of feasible trajectories and their corresponding steering controls are derived in a closed form and are expressed in terms of one adjustable parameter for the purpose of collision avoidance. Then, a new collision-avoidance condition is developed for the dynamically changing environment, which consists of a time criterion and a geometrical criterion, and it has explicit physical meanings in both the transformed space and the original working space. By imposing the avoidance condition, one can determine one (or a class of) collision-free path(s) in a closed form. Such a path meets all boundary conditions, is twice differentiable, and can be updated in real time once a change in the environment is detected. The solvability condition of the problem is explicitly found, and simulations show that the proposed method is effective.},
+	number = {6},
+	journal = {IEEE Transactions on Robotics},
+	author = {{Zhihua Qu} and {Jing Wang} and Plaisted, C. E.},
+	month = dec,
+	year = {2004},
+	note = {Conference Name: IEEE Transactions on Robotics},
+	keywords = {motion control, Boundary conditions, Car-like robot, chained form, collision avoidance, Collision avoidance, collision-free path, Histograms, Kinematics, mobile robots, Mobile robots, Motion-planning, moving obstacle, nonholonomic systems, obstacle avoidance, Optimal control, piecewise parameterization, polynomial inputs, Polynomials, robot kinematics, Standards development, trajectory generation, Vehicle dynamics},
+	pages = {978--993},
+	file = {IEEE Xplore Full Text PDF:C\:\\Users\\jimmo\\Zotero\\storage\\KJEJYVJZ\\Zhihua Qu et al. - 2004 - A new analytical solution to mobile robot trajecto.pdf:application/pdf;IEEE Xplore Abstract Record:C\:\\Users\\jimmo\\Zotero\\storage\\9IJZXRA9\\1362693.html:text/html},
+}
+@article{merchan-cruz_fuzzy-ga-based_2006,
+	title = {Fuzzy-{GA}-based trajectory planner for robot manipulators sharing a common workspace},
+	volume = {22},
+	issn = {1941-0468},
+	doi = {10.1109/TRO.2006.878789},
+	abstract = {•	Zwei kollaborative Manipulatoren teilen sich einen Workspace
+•	Beide gleiche Priorität
+•	Wichtig: lediglich die Position des Endeffektors wird festgelegt – keine Constraints auf Joint Space
+•	Trajektorie Planung und Kollisionsvermeidung finden im gleichen Schritt statt
+•	Anderer Manipulator kann sowohl statisches als auch dynamischen Hindernis sein
+•	Ein simpler genetic-algorithm basierter Trajektorie Planer leitet den Manipulator in Richtung Ziel
+•	Einzelne Fuzzy-Units korrigieren den Pfad, sollte sich ein Hindernis nähern
+•	Fuzzy Units bestimmen anhand einer Aktivierungsfunktion wie stark die Korrektur ausfallen soll und in welche Richtung
+•	Durch die Kombination des GABTP (Genetic Algorithm Based Trajectory Planner) mit den Fuzzy Units, wird der Manipulator kontinuierlich Richtung Ziel getrieben und gelichzeitig eine Kollision verhindert
+•	Vorgehen ist Äquivalent für dynamisches Verhalten des Hindernisses (2. Manipulator)
+•	Nähern sich die beiden Manipulatoren, sorgen die Fuzzy Units dafür, dass beide Manipulatoren in verschiedene Richtungen ausweichen, solange ihnen die gleichen Regeln zu Grunde liegen
+•	Dadurch ist weder scheduling noch Kommunikation zwischen den Robotern notwendig},
+	number = {4},
+	journal = {IEEE Transactions on Robotics},
+	author = {Merchan-Cruz, E. A. and Morris, A. S.},
+	month = aug,
+	year = {2006},
+	note = {Conference Name: IEEE Transactions on Robotics},
+	keywords = {Trajectory, Orbital robotics, collision avoidance, Collision avoidance, Mobile robots, Collaborative work, collision-avoidance, common workspace, end effectors, end-effector, fuzzy control, fuzzy genetic algorithm, fuzzy logic, Fuzzy logic, genetic algorithms, Genetic algorithms, genetic algorithms (GAs), Manipulator dynamics, Motion planning, multiple manipulators, Navigation, Robot kinematics, robot manipulators, trajectory planning},
+	pages = {613--624},
+	file = {IEEE Xplore Full Text PDF:C\:\\Users\\jimmo\\Zotero\\storage\\Y7W498TJ\\Merchan-Cruz und Morris - 2006 - Fuzzy-GA-based trajectory planner for robot manipu.pdf:application/pdf;IEEE Xplore Abstract Record:C\:\\Users\\jimmo\\Zotero\\storage\\7RPAKC34\\1668248.html:text/html},
+}
+@article{toit_robot_2012,
+	title = {Robot {Motion} {Planning} in {Dynamic}, {Uncertain} {Environments}},
+	volume = {28},
+	issn = {1941-0468},
+	doi = {10.1109/TRO.2011.2166435},
+	abstract = {This paper presents a strategy for planning robot motions in dynamic, uncertain environments (DUEs). Successful and efficient robot operation in such environments requires reasoning about the future evolution and uncertainties of the states of the moving agents and obstacles. A novel procedure to account for future information gathering (and the quality of that information) in the planning process is presented. To approximately solve the stochastic dynamic programming problem that is associated with DUE planning, we present a partially closed-loop receding horizon control algorithm whose solution integrates prediction, estimation, and planning while also accounting for chance constraints that arise from the uncertain locations of the robot and obstacles. Simulation results in simple static and dynamic scenarios illustrate the benefit of the algorithm over classical approaches. The approach is also applied to more complicated scenarios, including agents with complex, multimodal behaviors, basic robot-agent interaction, and agent information gathering.},
+	number = {1},
+	journal = {IEEE Transactions on Robotics},
+	author = {Toit, N. E. Du and Burdick, J. W.},
+	month = feb,
+	year = {2012},
+	note = {Conference Name: IEEE Transactions on Robotics},
+	keywords = {motion planning, path planning, Robots, Collision avoidance, mobile robots, agent information gathering, Anticipated measurements, Approximation methods, chance constraints, closed loop systems, complex multimodal behavior, Current measurement, DUE planning, dynamic, dynamic programming, dynamic uncertain environment, Dynamics, Gain measurement, information gathering, interaction, partially closed loop receding horizon control algorithm, partially closed-loop, Planning, receding horizon control (RHC), robot motion planning process, robot-agent interaction, stochastic dynamic programming problem, stochastic programming, uncertain, uncertain location, uncertain systems},
+	pages = {101--115},
+	file = {IEEE Xplore Full Text PDF:C\:\\Users\\jimmo\\Zotero\\storage\\Q4QM3BBG\\Toit und Burdick - 2012 - Robot Motion Planning in Dynamic, Uncertain Enviro.pdf:application/pdf;IEEE Xplore Abstract Record:C\:\\Users\\jimmo\\Zotero\\storage\\PQK3SU2E\\6024480.html:text/html},
+}
+@inproceedings{stilman_task_2007,
+	title = {Task constrained motion planning in robot joint space},
+	doi = {10.1109/IROS.2007.4399305},
+	abstract = {We explore global randomized joint space path planning for articulated robots that are subject to task space constraints. This paper describes a representation of constrained motion for joint space planners and develops two simple and efficient methods for constrained sampling of joint configurations: Tangent Space Sampling (TS) and First-Order Retraction (FR). Constrained joint space planning is important for many real world problems involving redundant manipulators. On the one hand, tasks are designated in work space coordinates: rotating doors about fixed axes, sliding drawers along fixed trajectories or holding objects level during transport. On the other, joint space planning gives alternative paths that use redundant degrees of freedom to avoid obstacles or satisfy additional goals while performing a task. In simulation, we demonstrate that our methods are faster and significantly more invariant to problem/algorithm parameters than existing techniques.},
+	booktitle = {2007 {IEEE}/{RSJ} {International} {Conference} on {Intelligent} {Robots} and {Systems}},
+	author = {Stilman, M.},
+	month = oct,
+	year = {2007},
+	note = {ISSN: 2153-0866},
+	keywords = {path planning, Orbital robotics, Motion planning, Robot kinematics, articulated robot, first-order retraction, global randomized robot joint space path planning, Intelligent robots, Path planning, Redundancy, redundant manipulator, redundant manipulators, Sampling methods, Space exploration, tangent space sampling, task constrained motion planning, USA Councils},
+	pages = {3074--3081},
+	file = {IEEE Xplore Full Text PDF:C\:\\Users\\jimmo\\Zotero\\storage\\PZLGCJEY\\Stilman - 2007 - Task constrained motion planning in robot joint sp.pdf:application/pdf;IEEE Xplore Abstract Record:C\:\\Users\\jimmo\\Zotero\\storage\\KZLZZSBC\\4399305.html:text/html},
+}
+@article{noauthor_kinodynamic_nodate,
+	title = {Kinodynamic motion planning},
+	abstract = {•	Kinodynamische Motion Planning versucht sowohl kinematische (zB. Hindernisse) als auch dynamische Constraints (v, a, f) zu berücksichtigen
+•	Ziel: Zeit minimale/optimale Trajektorie von Startposition und -Geschwindigkeit zu Zielposition und -Geschwindigkeit und dabei Hindernisse inklusive eines Sicherheitsabstands zu vermeiden und Geschwindigkeit und Beschleunigungsconstraints einzuhalten
+•	Eine exakte Lösung in 3D zu finden ist NP-Hart
+•	Annäherungsalgorithmen, deren Lösung nah an optimal ist
+•	Sicherheitsabstand ist eine Funktion abhängig von der Geschwindigkeit
+•	Finden einer Lösung ist immer ein Tradeoff aus:
+o	Ausführungszeit der Bewegung
+o	Strenge der Einhaltung des Sicherheitsabstands
+o	Genauigkeit beim Erreichen der Zielposition und Geschwindigkeit
+•	(Hindernisse werden als Menge von überlappenden Polyedern repräsentiert)
+•	Keine Garantie, dass die angenäherte optimale sichere Lösung in der Position optimal ist},
+	language = {en},
+	pages = {19},
+	file = {Kinodynamic motion planning.pdf:C\:\\Users\\jimmo\\Zotero\\storage\\F4MDXLNP\\DXCRjacm93.pdf:application/pdf},
+}
+@book{siciliano_springer_2008,
+	address = {Berlin},
+	title = {Springer handbook of robotics},
+	isbn = {978-3-540-23957-4},
+	language = {en},
+	publisher = {Springer},
+	editor = {Siciliano, Bruno and Khatib, Oussama},
+	year = {2008},
+	note = {OCLC: ocn153562054},
+	keywords = {Handbooks, manuals, etc, Robotics},
+	file = {Siciliano und Khatib - 2008 - Springer handbook of robotics.pdf:C\:\\Users\\jimmo\\Zotero\\storage\\JHRNVRMC\\Siciliano und Khatib - 2008 - Springer handbook of robotics.pdf:application/pdf},
+}
+@book{oriolo_motion_2005,
+	title = {Motion {Planning} for {Mobile} {Manipulators} along {Given} {End}-effector {Paths}},
+	volume = {2005},
+	abstract = {We consider the problem of planning collision-free motions for a mobile manipulator whose end-effector must travel along a given path. Algorithmic solutions are devised by adapting a technique developed for fixed-base redundant robots. In particular, we exploit the natural partition of generalized coordinates between the manipulator and the mobile base, whose nonholonomy is accounted for at the planning stage. The approach is based on the randomized generation of configurations that are compatible with the end-effector path constraint. The performance of the proposed algorithms is illustrated by several planning experiments.},
+	author = {Oriolo, Giuseppe and Mongillo, C.},
+	month = may,
+	year = {2005},
+	doi = {10.1109/ROBOT.2005.1570432},
+	note = {Journal Abbreviation: Proceedings - IEEE International Conference on Robotics and Automation
+Pages: 2160
+Publication Title: Proceedings - IEEE International Conference on Robotics and Automation},
+	file = {Volltext:C\:\\Users\\jimmo\\Zotero\\storage\\6RWXYVUR\\Oriolo und Mongillo - 2005 - Motion Planning for Mobile Manipulators along Give.pdf:application/pdf},
+}
+@article{sucan_open_2012,
+	title = {The {Open} {Motion} {Planning} {Library}},
+	volume = {19},
+	issn = {1558-223X},
+	doi = {10.1109/MRA.2012.2205651},
+	abstract = {The open motion planning library (OMPL) is a new library for sampling-based motion planning, which contains implementations of many state-of-the-art planning algorithms. The library is designed in a way that it allows the user to easily solve a variety of complex motion planning problems with minimal input. OMPL facilitates the addition of new motion planning algorithms, and it can be conveniently interfaced with other software components. A simple graphical user interface (GUI) built on top of the library, a number of tutorials, demos, and programming assignments are designed to teach students about sampling-based motion planning. The library is also available for use through Robot Operating System (ROS).},
+	number = {4},
+	journal = {IEEE Robotics Automation Magazine},
+	author = {Sucan, I. A. and Moll, M. and Kavraki, L. E.},
+	month = dec,
+	year = {2012},
+	note = {Conference Name: IEEE Robotics Automation Magazine},
+	keywords = {path planning, Robots, Planning, Aerospace electronics, Benchmark testing, control engineering computing, graphical user interface, graphical user interfaces, GUI, libraries, Libraries, OMPL, open motion planning library, operating systems (computers), robot operating system, robots, ROS, sampling-based motion planning, Software, Software algorithms},
+	pages = {72--82},
+	file = {IEEE Xplore Full Text PDF:C\:\\Users\\jimmo\\Zotero\\storage\\DY6IUBQM\\Sucan et al. - 2012 - The Open Motion Planning Library.pdf:application/pdf;IEEE Xplore Abstract Record:C\:\\Users\\jimmo\\Zotero\\storage\\L2Y8AGXB\\6377468.html:text/html},
+}
+@article{yang_flexible_2016,
+	title = {Flexible robotic manufacturing cell scheduling problem with multiple robots},
+	volume = {54},
+	issn = {0020-7543, 1366-588X},
+	url = {https://www.tandfonline.com/doi/full/10.1080/00207543.2016.1176267},
+	doi = {10.1080/00207543.2016.1176267},
+	language = {en},
+	number = {22},
+	urldate = {2020-12-09},
+	journal = {International Journal of Production Research},
+	author = {Yang, Yujun and Chen, Ye and Long, Chuanze},
+	month = nov,
+	year = {2016},
+	pages = {6768--6781},
+	file = {Yang et al. - 2016 - Flexible robotic manufacturing cell scheduling pro.pdf:C\:\\Users\\jimmo\\Zotero\\storage\\FBYTSCVD\\Yang et al. - 2016 - Flexible robotic manufacturing cell scheduling pro.pdf:application/pdf},
+}
+@misc{noauthor_robot_nodate,
+	title = {{ROBOT} {\textbar} {Bedeutung} im {Cambridge} {Englisch} {Wörterbuch}},
+	url = {https://dictionary.cambridge.org/de/worterbuch/englisch/robot},
+	abstract = {robot Bedeutung, Definition robot: 1. a machine controlled by a computer that is used to perform jobs automatically:  2. someone who….},
+	language = {de},
+	urldate = {2020-12-09},
+	file = {Snapshot:C\:\\Users\\jimmo\\Zotero\\storage\\KIY7QGKE\\robot.html:text/html},
+}
--- a/bibliography.bib
+++ b/bibliography.bib
--- a/sections/appendix.tex
+++ b/sections/appendix.tex
@@ -8,9 +8,6 @@ der weiteren Umgebungen und Befehle demonstriert, welche im Tutorial
 \section{Referenzen und das Literaturverzeichnis}
 Das Literaturverzeichnis wird auf Basis der nachfolgend verwendeten
 Zitate erstellt und ist auf Seite~\pageref{sec:bibliography} zu finden.
-In diesem Textabschnitt werden die zwei bekannten \LaTeX-Bücher
-\cite{knuth84} und \cite{goossens94} sowie das Anwenderhandbuch
-\cite{hanisch14} zitiert.p
 \section{Grafiken und Tabellen in Gleitumgebungen}
 Es folgt die Demonstration von Gleitumgebungen, welche sowohl für

--- a/sections/einleitung.tex
+++ b/sections/einleitung.tex
@@ -6,7 +6,7 @@ entwickelte Fähigkeiten genutzt, um Roboter sicher außerhalb von Sicherheitsk
 der Nähe bzw. im direkten Kontakt mit Menschen einzusetzen. Ein solcher Arbeitsbereich, in
 dem ein oder mehrere Cobots eine kollaborative Aufgabe zusammen mit einer beliebigen Anzahl
 von Menschen durchführen wird als cobotische Zelle bezeichnet. Hierfür gibt es viele Anwendungsfälle,
-z.B. als Teil einer kollaborativen Montagelinie, auf Baustellen oder in medizinischen
+zum Beispiel als Teil einer kollaborativen Montagelinie, auf Baustellen oder in medizinischen
 Umgebungen. Dies bedeutet, dass Cobots ihre Bewegungen einschränken müssen um jede Art
 von Schaden an Mensch und Umgebung zu verhindern.

--- a/sections/grundlagen.tex
+++ b/sections/grundlagen.tex
@@ -3,18 +3,19 @@ Einige der wesentlichen Begriffe dieser Arbeit besitzen keine eindeutige Definit
 \section{Roboter}
-Das Cambridge Dictionary definiert einen Roboter im Allgemeinen als \glqq eine von einem Computer gesteuerte Maschine, die zur automatischen Ausführung von Aufgaben genutzt wird\grqq{} []. 
+Das Cambridge Dictionary definiert einen Roboter im Allgemeinen als \glqq eine von einem Computer gesteuerte Maschine, die zur automatischen Ausführung von Aufgaben genutzt wird\grqq{} \cite{noauthor_robot_nodate}. 
 Diese Arbeit bezieht sich in erster Linie auf industrielle Roboter oder auch industrielle Manipulatoren. Typischer Weise besitzen solche Manipulatoren einen Endeffektor, der zur Handhabung, Montage und Bearbeitung von Werkstücken konzipiert ist und entsprechend der zu erledigenden Aufgabe zu wählen ist.
 \section{Cobots}
-Roboter sind dem Menschen in vielen Bereichen deutlich überlegen. Sie sind durchgängig einsetzbar und arbeiten weitaus genauer. Die Überwachung und Entscheidungsfindung obliegt jedoch noch dem Menschen. Gerade in Bereichen, die ein hohes Maß an individualisierten Arbeitsschritten enthalten, ist heute noch nicht praktikabel menschliche Arbeiter vollständig zu ersetzen. Um trotzdem auch die Vorteile des Einsatzes von Robotern auszunutzen, ist es wichtig eine Umgebung zu schaffen, in der Roboter und Menschen sich einen gemeinsamen Arbeitsbereich teilen [Robotic Handbook].
+Roboter sind dem Menschen in vielen Bereichen deutlich überlegen. Sie sind durchgängig einsetzbar und arbeiten weitaus genauer. Die Überwachung und Entscheidungsfindung obliegt jedoch weiterhin dem Menschen. Gerade in Bereichen, die ein hohes Maß an individualisierten Arbeitsschritten enthalten, ist heute noch nicht praktikabel menschliche Arbeiter vollständig zu ersetzen. Um trotzdem auch die Vorteile des Einsatzes von Robotern auszunutzen, ist es wichtig eine Umgebung zu schaffen, in der Roboter und Menschen sich einen gemeinsamen Arbeitsbereich teilen \cite{siciliano_springer_2008}.
+Damit dies möglich ist, muss der Roboter eine Reihe von Sicherheitsbestimmungen gerecht werden [\_\_\_ISO 15066] und in der Lage sein auf unerwartetes Verhalten des Menschen zu reagieren und sein Verhalten automatisch anzupassen [\_\_\_Ceti book]. Erfüllt ein Roboter diese Vorgaben und kann für kollaborative Arbeiten mit Menschen eingesetzt werden, spricht man von einem Cobot.
-In der Regel dürfen Roboter aus Sicherheitsgründen nur in abgeschlossenen Bereichen, wie einem Sicherheitskäfig, aktiv sein. 
 \section{Motion Planning}
-Motion Planning ist...
+Motion Planning beschreibt die Aufgabe einen kontinuierlichen und kollisionsfreien Pfad von einem gegebenen Startzustand zu einem Zielzustand zu finden \cite{siciliano_springer_2008} \cite{sucan_open_2012}. Das Finden einer optimalen Lösung ist PSPACE-vollständig und daher schwer zu implementieren und rechnerisch zu lösen. In der Praxis hat sich für die meisten Anwendungsfälle ein alternativer Ansatz des Sampling-Based Planning durchgesetzt \cite{siciliano_springer_2008}. Dieser ist einfacher zu implementieren, bietet aber keinen \glqq vollständigen\grqq{} Algorithmus. Existiert eine Lösung, wird diese in unbestimmter Zeit auch gefunden, jedoch kann die Nicht-Existenz einer Lösung nicht festgestellt werden \cite{sucan_open_2012}.
 \section{Constraints}
-Constraints sind ...
+Neben der Beschränkung des Motion Plannings auf einen kollisionsfreien Pfad, können dem Planer noch weitere Beschränkungen (Constraints) auferlegt werden. Dadurch ist es möglich das Verhalten und die Bewegung des Roboters den eigenen Vorstellungen anzupassen, die anspruchsvolle Aufgabe des Motion Plannings aber weiterhin einem Algorithmus zu überlassen. 
+Häufig wird bei Constraints zwischen \glqq holonomic\grqq{} und \glqq nonholonomic\grqq{} Constraints unterschieden. Erstere können mathematisch alleine durch Gleichungen beschrieben werden, die lediglich von der Position abhängig sind. Für letztere ist mindestens eine Variable neben der Position auch von der zeitlichen Ableitung abhängig \cite{siciliano_springer_2008}. Das Constraint der Kollisionsfreiheit beispielsweise ist nach dieser Definition ein \glqq nonholonomic\grqq{} Constraint \cite{berenson_constrained_nodate}.
--- a/sections/tax_einordnung.tex
+++ b/sections/tax_einordnung.tex
 \chapter{Taxonomische Einordnung von Constraints}\label{ch:taxonomy}
+Im folgenden werden mögliche Arten von Constraints für die Pfadgenerierung (Motion Planning), die Handlung und die Bewegung des Roboters analysiert, erläutert und in einer Taxonomie eingeordnet.
 \section{Pfad-Constraints}
+Pfad äquivalent zu Motion Planning
 \subsection{Arbeitsbereich}
 	\subsubsection{Wirkungsbereich}
 	\subsubsection{Kollaboration}