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IEEE International Conference on robotics and Automation (ICRA)

作者： F. Lange G. Hirzinger Institute of Robotics and System Dynamics Deutsches Zentrum fur Luft-und Raumfahrt (DLR) Wessling Germany

An adaptive architecture for feedforward control of industrial robots with standard positional controller is presented. This approach explicitly considers robots with elastic joints. It assumes that the real position of the tool centre point (TCP) can be recorded for offline evaluation. Compensation of elasticity is trained in a feedforward controller. Adaptation takes place without any knowledge of the physical system model. The performance of the method is demonstrated in experiments with a 6-axis industrial robot KUKA KR6/1 for which real path errors during full speed motion are reduced by 70%. Reductions of 50% can be expected for untrained paths or other robots of the same type.

关键词： Robot control Industrial control Service robots Elasticity Position measurement Electrical equipment industry Sampling methods Robot sensing systems Adaptive control Torque

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Sliding mode model semantics and simulation for hybrid systems 1

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5th International Hybrid systems Workshop, 1997

作者： Mosterman, Pieter J. Zhao, Feng Biswas, Gautam Institute of Robotics and System Dynamics DLR Oberpfaffenhofen WesslingD-82230 Germany Department of Computer and Information Science The Ohio State University ColumbusOH43210 United States Department of Computer Science Vanderbilt University NashvilleTN37235 United States

ISBN: (数字)9783540491637

ISBN: (纸本)354065643X

We describe model semantics and develop a simulation algo-rithm for characterizing a class of dynamic physical systems operating in the so-called sliding regimes. Complex continuous system behavior com-bines effects that occur at multiple temporal and spatial scales. Behavior generation is simpliéd by creating system models that employ times-cale and parameter abstraction techniques. The resultant hybrid systems exhibit discrete and continuous behaviors, which manifest as piecewise continuous behaviors interspersed with discontinuous changes between the continuous operating modes. Mode transitions are induced by internal state changes and external control signals. Sometimes hybrid systems exhibit chattering behaviors at the discontinuous transition boundaries. This presents computational challenges to conventional numerical simulation methods. We develop an efficient, adaptive algorithm for simulating this class of systems, based on a careful analysis of the model semantics at the discontinuous boundaries. Simulation results show that the algorithm is more efficient and accurate for sliding mode systems than conventional integration methods. © Springer-Verlag Berlin Heidelberg 1999.

关键词： Hybrid systems

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Signal interpretation for monitoring and diagnosis, a cooling system testbed

Signal interpretation for monitoring and diagnosis, a coolin...

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IEEE Instrumentation and Measurement Technology Conference

作者： E.J. Manders G. Biswas P.J. Mosterman L. Barford V. Ram J. Barnett Center for Intelligent System Vanderbilt University Nashville TN USA Institute of Robotics and System Dynamics DLR Germany Hewlett Packard Laboratories Palo Alto CA USA

This paper discusses our method for monitoring and diagnosis of dynamic systems. A key aspect in our approach is the interaction between a qualitative diagnosis engine that requires symbolic input data and a monitoring component that performs a signal to symbol transformation on the observed signals. We have applied the methodology to the cooling system of an automobile engine on which we have installed thermocouples and pressure sensors. Faults can be introduced into the cooling system in a controlled manner. We show that a combination of linear approximation techniques and statistical signal processing can provide robust symbolic signal values for the diagnosis algorithm.

关键词： Monitoring Cooling Engines Signal processing algorithms Vehicle dynamics Automobiles Sensor systems Thermal sensors Temperature control Control systems

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Building hybrid observers for complex dynamic systems using model abstractions 1

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2nd International Workshop on Hybrid systems: Computation and Control, HSCC 1999

作者： Mosterman, Pieter J. Biswas, Gautam Institute of Robotics and System Dynamics DLR Oberpfaffenhofen P.O. Box 1116 WesslingD-82230 Germany Knowledge Systems Laboratory Department of Computer Science Stanford University StanfordCA94305 United States Department of Computer Science Vanderbilt University NashvilleTN United States

ISBN: (数字)9783540489832

ISBN: (纸本)3540657347

Controllers for embedded dynamic systems require models with continuous behavior evolution and discrete configuration changes. These changes may cause fast continuous transients in state variables. Time scale and parameter abstractions simplify the analysis of these transients, causing discontinuities in the state variables. The two abstraction types have a very different impact on the analysis of system behavior. We have developed a systematic modeling approach that introduces formal semantics for behavior generation. This paper discusses the implementation of this scheme in a hybrid observer designed to track embedded system behavior. The resultant observer is based on piecewise simpler continuous models with mode transitions defined between them. Actual mode transitions in the system are provided by a digital controller and directly obtained from measuring physical variables. © Springer-Verlag Berlin Heidelberg 1999.

关键词： Embedded systems

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Application of nonlinear disturbance decoupling to active car steering

Application of nonlinear disturbance decoupling to active ca...

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1999 European Control Conference, ECC 1999

作者： Aneke, N.P.I. Ackermann, J. Bunte, T. Nijmeijer, H. Eindhoven University of Technology Faculty of Mechanical Engineering P.O. Box 513 Eindhoven5600 MB Netherlands DLR Oberpfaffenhofen Institute of Robotics and System Dynamics P.O. Box 1116 WesslingD-82230 Germany University of Twente Faculty of Mathematical Sciences P.O.Box 217 Enschede7500 AE Netherlands

ISBN: (纸本)9783952417355

A control design approach is presented for active steering of front wheel steered vehicles. The approach consists of the application of disturbance decoupling via state-derivative feedback. Simulations with the resulting controller show that the use of state-derivative information may considerably enhance vehicle safety, in particular under adverse operating conditions such as icy roads. © 1999 EUCA.

关键词： Vehicle safety

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Robust Stabilization of Car Steering dynamics

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IFAC Proceedings Volumes 1999年第2期32卷 3283-3288页

作者： Long Wang J. Ackermann Center for Systems and Control Department of Mechanics and Engineering Science Peking University Beijing 100871 Fax: +86-10-51881688 China Institute of Robotics and System Dynamics German Aerospace Research Center DLR-Oberpfaffenhofen D-82230 Wessling Germany

In this paper, by exploiting the intrinsic structure of system equations and uncertainties, we first establish a nonconservative PID stabilization criterion for driver support systems. We then show some interesting results on positivity and connections of PID controllers. Finally, some extreme point results on PID α-stabilization are obtained. These results give certain explanations and justifications for the simulation results performed at German Aerospace Research Center.

关键词： Robust Control Car Steering dynamics Parameter Space PID Controllers Stabilization Extreme Point Results

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An automatic procedure for force controller design

An automatic procedure for force controller design

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IEEE/ASME (AIM) International Conference on Advanced Intelligent Mechatronics

作者： C. Natale R. Koeppe G. Hirzinger Prisma Laboratory Dipartimento di Inforniatica e Sistemistica Università degli Studi di Napoli Federico II Napoli Italy Institute of Robotics and System Dynamics German Aerospace Center DLR Wessling Germany

In this paper the problem of designing a force controller for industrial robots with a positional interface is addressed. An automatic design procedure to compute the structure and the parameters of the controller is devised, to provide a useful tool for rapid and robust setup of force control at industrial level. The synthesis of the force controller simply requires technology parameters provided by the robot manufacturer and a desired performance expressed in non-technical way by the user, typically a technician. The automated design algorithm will be described in detail and its effectiveness will be demonstrated on an industrial robot.

关键词： Force control Automatic control Service robots robotics and automation Industrial control Manufacturing industries Robot control Robust control Computer industry Algorithm design and analysis

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Application of nonlinear disturbance decoupling to active car steering

Application of nonlinear disturbance decoupling to active ca...

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European Control Conference (ECC)

作者： N. P. I. Aneke J. Ackermann T. Bünte H. Nijmeijer Eindhoven University of Technology Faculty of Mechanical Engineering P.O. Box 513 5600 MB Eindhoven The Netherlands DLR Oberpfaffenhofen Institute of Robotics and System Dynamics P.O. Box 1116 D-82230 Wessling Germany

关键词： Vehicles Vehicle dynamics Wheels Roads Asymptotic stability Nonlinear dynamical systems

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Computation of coprime factorizations of rational matrices

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LINEAR ALGEBRA AND ITS APPLICATIONS 1998年第1-3期271卷 83-115页

作者： Varga, A DLR—Oberpfaffenhofen Institute of Robotics and System Dynamics P.O.B. 1116 D-82230 Wessling F.R.G.

We propose numerically reliable state-space algorithms for computing several coprime factorizations of rational matrices: (1) factorizations with factors having poles in a given stability domain;(2) factorizations with proper stable factors;(3) factorizations with inner and J-inner denominators. The new algorithms are based on a recursive generalized Schur algorithm for pole dislocation. They are generally applicable whether the underlying descriptor state-space representation is minimal or not, and whether it is stabilizable/detectable or not. The proposed algorithms are useful in solving various computational problems for both standard and descriptor system representations. (C) 1998 Elsevier Science Inc.

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dlr's multisensory articulated hand. II. The parallel torque/position control system 15

DLR's multisensory articulated hand. II. The parallel torque...

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15th IEEE International Conference on robotics and Automation, ICRA 1998

作者： Liu, H. Meusel, P. Butterfass, J. Hirzinger, G. DLR German Aerospace Center Institute of Robotics and System Dynamics Wessling82234 Germany

ISBN: (纸本)078034300X

This paper Gives a brief description of feedback control systems engaged in dlr's recently developed multisensory 4-finger robot hand. The work is concentrated on constructing the dynamic model and the control strategy for one joint of the fingers. One goal is to make the hand follow a dataglove for fine manipulation tasks. Our proposed strategy for this task is parallel torque/position control;sliding mode control is realized for the robust trajectory tracking in free space;while impedance control is provided for compliance control in the constrained environment;and an easily-designed parallel observer is used for the switch between these two control modes during the transition from or to contact motion. Some experimental results show the effectiveness of proposed strategy for the pure position control, torque control, and the transition control. © 1998 IEEE.

关键词： Position control

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