检索结果-内蒙古大学图书馆

IEEE International Workshop on Intelligent Robots and systems (IROS)

作者： R. Koeppe A. Breidenbach G. Hirzinger Institute of Robotics and System Dynamics Deutsche Forschungsanstalt für Luft-und Raumfahrt (DLR) Germany

We are proposing a supervised learning approach in robot force control which enables robot programming by human demonstration. To demonstrate the task in an intuitive way, we designed a teach device which acquires the sensorimotion of the human. The design and use of the teaching device for skill acquisition is discussed. Recording of compliant motion, of the human is shown for the "put block in a corner of a box problem" and the "peg in hole problem". Skill representation is demonstrated for the first of the two problems. Finally we are describing other useful applications of the teach device in the field of world modeling and robotics.

关键词： Robot sensing systems Educational robots Humans Force sensors Force measurement Telerobotics Supervised learning Robot programming Education Robotic assembly

来源：评论

学校读者我要写书评

暂无评论

PROGRESS IN INTEGRATED system-ANALYSIS AND DESIGN SOFTWARE FOR CONTROLLED VEHICLES

引用

VEHICLE system dynamics 1994年第SUP1期23卷 274-296页

作者： KORTUM, W SCHIEHLEN, W HOFFMANN, M DLR-Institdte for Robotics and System Dynamics Wessling Germany Institute B for Mechanics University of Stuttgart Germany TEDAS Mechanical Systems Software GmbH Marburg Germany

ISBN: (纸本)9026513801

This paper represents one of the results of the second Herbertov Workshop in 1992 on ''Research Issues in Automotive Integrated Chassis Control systems''. It was decided to bring together engineers who are actively involved in current software developments to report on the progress in integrated system analysis and design software for controlled vehicles. Therefore, after mentioning some of the principal requirements for such software, the state-of-the-art is summarized. Promising recent research and software developments are described and the application of some of these concepts to an actively controlled vehicle with preview is discussed. Throughout the article the ideas of concurrent analysis and design strategies are emphasized.

关键词： Ground vehicles

来源：评论

学校读者我要写书评

暂无评论

On Robust Sensitivity Functions and Related Problems

On Robust Sensitivity Functions and Related Problems

引用

第十九届中国控制会议

作者： J.Ackermann Institute of Robotics and System Dynamics German Aerospace Research Center DLR-OberpfaffenhofenD-82230 WesslingGermany

来源：评论

学校读者我要写书评

暂无评论

Worst case braking trajectories for robotic motion simulators

Worst case braking trajectories for robotic motion simulator...

引用

IEEE International Conference on robotics and Automation (ICRA)

作者： Andreas Labusch Tobias Bellmann Karan Sharma Johann Bals German Aerospace Center (DLR) Institute of System Dynamics and Control Oberpfaffenhofen Germany German Aerospace Center (DLR) Institute of Robotics and Mechatronics Oberpfaffenhofen Germany

Motion simulators based on industrial robots can produce high dynamic accelerations and velocities compared to classical hydraulic hexapod systems. In case of emergency stops, large and possibly harmful accelerations can occur. This paper aims to provide an optimization procedure to generate worst case trajectories in order to test for these harmful accelerations, by maximizing the kinetic energy prior the emergency stop. The dynamical and mechanical limits of the robot are considered as constraints of the optimization criterion. An exemplary worst case trajectory is simulated using a braking model and the resulting Head Injury Criterion (HIC) is calculated and compared with older tests, using non-optimized trajectories. A significant higher, yet with the current robot dynamics not harmful HIC value can be generated.

关键词： Trajectory Acceleration Joints Kinetic energy Service robots Optimization

来源：评论

学校读者我要写书评

暂无评论

Parametric methods for pole assignment

Parametric methods for pole assignment

引用

European Control Conference (ECC)

作者： A. Varga DLR Oberpfaffenhofen German Aerospace Research Establishment Institute of Robotics and System Dynamics D-82234 Wessling Germany

The non-redundant parametrization of the pole assignment problem for a n-th order system with m inputs allows to express the solution of the problem in term of n(m - 1) free parameters. These parameters can be used to fulfill additional requirements on the closed-loop system as for instance minimum norm feedback gain matrix, well conditioned eigenvector set, maximum stability radius. One of reliable numerical methods for pole assignment is the so-called Schur method. An extension of this method is proposed which computes the solution of the pole assignment problem corresponding to a non-redundant parameter set. Several possibilities are further investigated to compute minimum norm feedback matrices. An improved approach to compute minimum Frobenius-norm feedback relying on a redundant parametrization is also discussed.

关键词： Eigenvalues and eigenfunctions Minimization Iron Matrix decomposition Newton method Optimized production technology Closed loop systems

来源：评论

学校读者我要写书评

暂无评论

Autonomous Parking using a Highly Maneuverable Robotic Vehicle

引用

IFAC Proceedings Volumes 2014年第3期47卷 2640-2645页

作者： Alexander Schaub Juan Carlos Ramirez de la Cruz Darius Burschka Institute of System Dynamics and Control Robotics Mechatronics Center - DLR 82234 Wessling Germany Institute of Robotics and Mechatronics Robotics Mechatronics Center - DLR 82234 Wessling Germany Department of Computer Science Technische Universität München 85748 Garching bei München Germany

This work presents a novel autonomous parking concept for a four wheel-steerable robotic electric vehicle called ROboMObil (ROMO). Its extraordinary maneuverability, including rotations and lateral driving, and its capability of autonomous driving is demonstrated in the application of parallel parking. The whole process is described starting with the perception to identify a suitable parking spot in the near environment, planning the maneuver, and executing it autonomously. The proposed parking method is free of assumptions and does not use any information about the environment from an external source. Test results with the real vehicle are presented to show the feasibility of the concept.

关键词：

来源：评论

学校读者我要写书评

暂无评论

On Robust Sensitivity Functions and Related Problems

On Robust Sensitivity Functions and Related Problems

引用

第十九届中国控制会议

作者： J．Ackermann Institute of Robotics and System Dynamics German Aerospace Research Center DLR-Oberpfaffenhofen D-82230 Wessling Germany

In this paper, we prove that, for an interval system, the maximal H ∞ norm of its sensitivity function is achieved at twelve (out of sixteen) Kharitonov vertices. We also study the envelope of the Nyquist plots generated by a family of stable transfer functions with multilinearly correlated uncertainties and show that the outer Nyquist envelope is generated by the Nyquist plots of the vertices of this family. We then apply this result to calculating the maximal H ∞ norm and verifying the strict positive realness condition for uncertain transfer function families.

关键词： Nyquist On Robust Sensitivity Functions and Related Problems

来源：评论

学校读者我要写书评

暂无评论

Space robotics

引用

IFAC Proceedings Volumes 1994年第14期27卷 695-714页

作者： G. Hirzinger German Aerospace Research Establishment (DLR) Institute for Robotics and System Dynamics Oberpfaffenhofen D-82234 Wessling Germany fax: +49 8153 28-1134

The paper tries to outline the state of the art in space robotics. It discusses the technologies used in ROTEX, the first remotely controlled space robot which flew with shuttle COLUMBIA in April 93, but it also gives a review of the major space robot projects envisioned by different nations for the next decade. The mecha-tronics and dynamics aspects of space robots including free-flying systems are briefly discussed. Broader attention is given to the telerobotic and teleoperational control loop structures, including predictive delay-compensating graphics simulation. The paper finally tries to emphasize that by task level programming (involving “learning by showing” on a high level) future space robots will be powerful tools for scientists and ground operators which are not robot specialists. The tele-sensor-programming concept of ROTEX was a first step in this direction. We plead for flying a variety of space robot systems in the near future in order to enhance experience with and confidence in these technologies as quickly as possible.

关键词： Space robotics telerobotics shared autonomy tele-sensor-programming remote control

来源：评论

学校读者我要写书评

暂无评论

Solution of positive periodic discrete Lyapunov equations with applications to the balancing of periodic systems

Solution of positive periodic discrete Lyapunov equations wi...

引用

European Control Conference (ECC)

作者： A. Varga DLR Oberpfaffenhofen German Aerospace Research Establishment Institute of Robotics and System Dynamics D-82234 Wessling Germany

The discrete-time positive periodic Lyapunov equations have important applications in the balancing and potentially also in the model reduction of discrete-time periodic systems. Efficient numerically reliable algorithms based on periodic Schur decomposition are proposed for the solution of these equations. The proposed algorithms are extensions of the method of Hammarling for the case of positive semidefinite solution. Special methods were developed to solve efficiently small order periodic Lyapunov and Sylvester equations.

关键词： Mathematical model Standards Iterative methods Matrix decomposition Eigenvalues and eigenfunctions Accuracy

来源：评论

学校读者我要写书评

暂无评论

A generic interface technique for interactive use of file-driven software in a CACE environment

A generic interface technique for interactive use of file-dr...

引用

IEEE International Symposium on Computer Aided Control system Design (CACSD)

作者： R. Finsterwalder J. Bals University of Federal Armed Forces Munich Munich Germany Institute for Robotics and System Dynamics DLR-Oberpfaffenhofen Wessling Germany

One of the computation prerequisites in concurrent engineering is to merge different commercial packages and in-house software into a common framework for computational experimenting. The paper reports on a possible solution thereof. In particular, the coupling with file driven software is discussed and a generic interface technique to this kind of software is presented. The control engineering environment software ANDECS serves to outline the way in which tool integration of file driven software is supported by modern CACE systems. However, this interface technique is not bound to the ANDECS system only. Thus it can be directly applied to link software to other modular CACE systems like MATLAB and Xmath.

关键词： Packaging Databases Software tools MATLAB Graphical user interfaces Computer interfaces User interfaces Robots Concurrent computing Military computing

来源：评论

学校读者我要写书评

暂无评论

建议与咨询留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

时间限定

文献类型

馆藏选择

核心期刊

语言

文献类型

帮助

文字说明：

检索规则说明：

检索范例：

分类表

所选分类

限定检索结果

文献类型

馆藏范围

日期分布

学科分类号

主题

机构

作者

语言

请选择保存的检索档案：

请选择收藏分类：

通借通还

建议与咨询 留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

时间限定

文献类型

馆藏选择

核心期刊

语言

文献类型

帮助

文字说明：

检索规则说明：

检索范例：

分类表

所选分类

限定检索结果

文献类型

馆藏范围

日期分布

学科分类号

主题

机构

作者

语言

请选择保存的检索档案： 新增检索档案 确定 取消

请选择收藏分类： 新增自定义分类 确定 取消

通借通还

建议与咨询留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

请选择保存的检索档案：

请选择收藏分类：