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...
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(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.
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...
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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.
Recent advances in visual servoing theory and practice now make it possible to accurately and robustly position a robot manipulator relative to a target. Both the vision and control algorithms are extremely simple, ho...
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One problem in multidisciplinary simulation is to merge models which originate in different disciplinary environments into a common computer-executable model for computational experimenting. The paper reports on a pos...
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One problem in multidisciplinary simulation is to merge models which originate in different disciplinary environments into a common computer-executable model for computational experimenting. The paper reports on a possible solution thereof. This is based on a public-domain, application-neutral, formally defined Fortran or C format for dynamic input/output systems, called DSblock, to which "higher level" models can be translated. In particular, it is reported on A-CoSiLa, an ACSL model translator to the neutral DSblock format.< >
In this paper, we present a state space characterization of the transmission zeros of singular linear multivariable systems that is analogous to that of standard systems. We study the structural invariants of a genera...
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In this paper, we present a state space characterization of the transmission zeros of singular linear multivariable systems that is analogous to that of standard systems. We study the structural invariants of a generalized state space model described by the matrix 5-tuple (E, A, B, C, D), where E may be a singular matrix but det(A-/spl lambda/E)/spl ne/0. The characterization of these zeros is based on the system matrix of the corresponding 5-tuple and is an extension of equivalent results for state space models described by the 4-tuples (A, B, C, D).
The concept of mutual compatibility is introduced. It has arisen from the cooperation of the developers of the RASP and SLICOT libraries. With this concept it becomes feasible to coordinate the development of several ...
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The concept of mutual compatibility is introduced. It has arisen from the cooperation of the developers of the RASP and SLICOT libraries. With this concept it becomes feasible to coordinate the development of several libraries leading to a reduction of software implementation and testing efforts without giving up the identity of the separate libraries. A first development along the lines of the mutual compatibility concept is the recently developed model reduction library RASP-MODRED.< >
The state of the art of control libraries is presented. Attention is paid to the joining of efforts to developing a future mature control library based on the two existing libraries in active development RASP and SLIC...
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The state of the art of control libraries is presented. Attention is paid to the joining of efforts to developing a future mature control library based on the two existing libraries in active development RASP and SLICOT. The educational aspects of the use of control libraries are emphasized.
The design of robust low-order controllers based on a high-order model of a generic flexible test structure with collocated sensors/actuators is considered. A new synthesis technique which combines the projective and ...
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The design of robust low-order controllers based on a high-order model of a generic flexible test structure with collocated sensors/actuators is considered. A new synthesis technique which combines the projective and the positive-real control concepts is developed and used for control design. The proposed method alleviates the known difficulty of the projective approach where the residual (nonretained) closed-loop modes can become unstable, and guarantees the strictly positive realness of the controller. Two approaches for selecting the free design parameters of the design technique are provided. Based on the new technique, two global controllers and one decentralised controller are designed with their performance evaluated and compared.
Key items in the development of a new smart robot generation are explained by hand of dlr's recent activities in robotics research. These items are the design of multisensory gripper systems, ultra-light-weight li...
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Key items in the development of a new smart robot generation are explained by hand of dlr's recent activities in robotics research. These items are the design of multisensory gripper systems, ultra-light-weight links and joint drive systems with integrated joint torque control, learning and self-improvement of the dynamical behaviour, modelling the environment using sensorfusion, and new sensor-based off-line programming techniques based on teaching by showing in a (stereo)graphics environment. For each of these issues either simulated or real design results are given.
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