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

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

ISBN: (纸本)078034300X

The main features of dlr's dextrous robot hand as a modular component of a complete robotics system are outlined in this paper. The application of robotics systems in unstructured servicing environments requires dextrous manipulation abilities and facilities to perform complex remote operations in a very flexible way. Therefore we have developed a multisensory articulated four finger hand, where all actuators are integrated in the hand's palm or the fingers directly. It is an integrated part of a complex light-weight manipulation system aiming at the development of robonauts for space. After a brief description of the hand and it's sensorial equipment the hard- And software architecture is outlined with particular emphasis on flexibility and performance issues. The hand is typically controlled through a data glove for telemanipulation and skill-transfer purposes. Autonomous grasping and manipulation capabilities are currently under development. © 1998 IEEE.

关键词： Hydraulic actuators

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Analysis of the dlr planetary roller spindle drive

Analysis of the dlr planetary roller spindle drive

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ASME 1998 Design Engineering Technical Conferences, DETC 1998

作者： Matthias, Dipl.-Ing Dlr German Aerospace Center Institute of Robotics and System Dynamics Muenchner Strabe 20 WesslingD-82234 Germany

ISBN: (纸本)9780791880319

The dlr Planetary Roller Spindle Drive (PRSD), a new linear actuator developed at the German Aerospace Center (dlr), transforms fast rotation of a drive into slow but powerful linear movement. To optimize dynamical behaviour and performance of modified PRSD design versions, modelling and calculation methods have been developed, taking into account the very special requirements of this new design. To analyze the operating characteristics and performance figures, the dlr Planetary Roller Spindle Drive was modelled as a multibody system (MBS). Special attention was directed on the description of the complex contact mechanics between the PRSD elements. Accompanying experiments ensured the accuracy of the modelling. Analysis of the MBS model of an existing PRSD in the time domain showed satisfying accordance with testbench measurements. © 1998 by ASME.

关键词： Mathematical transformations

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Predictive vision based control of high speed industrial robot paths

Predictive vision based control of high speed industrial rob...

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IEEE International Conference on robotics and Automation (ICRA)

作者： F. Lange P. Wunsch G. Hirzinger Institute of Robotics and System Dynamics DLR Wessling Germany

A predictive architecture is presented to react on sensor data in the case of high speed motion and low bandwidth sensor data. This concept is used for the vision based control of an industrial robot to track a contour at a speed of 1.6 m/s. The vision task can be performed very fast since only 2 rows of the image are analyzed. In this way an accuracy of 0.3 mm is reached in spite of uncertainties in robot's kinematic parameters. Vision and control work asynchronously so that even delay times are tolerable during sensing as long as the time-instant of the exposure is known.

关键词： Industrial control Service robots Robot vision systems Robot sensing systems Bandwidth Image analysis Performance analysis Uncertainty Robot kinematics Delay

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Robust Torque Control for Robot Joints with Flexibility

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IFAC Proceedings Volumes 1998年第27期31卷 121-125页

作者： Jingxin Shi Gerd Hirzinger Institute for Robotics and System Dynamics German Aerospace Center (DLR) 82234 Wessling Germany

A practical solution of controlling flexible-joint robots is to control the joint torque, i.e. a robust joint torque controller with fast enough response is required. The position control problem of the flexible-joint robot will be reduced to the control of a rigid-body robot. This paper is dedicated to design such a torque controller using traditional feedback control and sliding mode techniques. Different from the conventional applications of sliding mode, which lead to the so-called chattering effects, sliding mode techniques are used in an estimation process to enhance the robustness of a pole-placement design. Hence, no chattering will be exicted

关键词： flexible arm singular perturbation method sliding mode control

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dlr's multisensory articulated hand. I. Hard- and software architecture

DLR's multisensory articulated hand. I. Hard- and software a...

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IEEE International Conference on robotics and Automation (ICRA)

作者： J. Butterfass G. Hirzinger S. Knoch H. Liu Ciermian AeroSpace Center Institute of Robotics and System Dynamics DLR Wessling Germany

The main features of dlr's dextrous robot hand as a modular component of a complete robotics system are outlined in this paper. The application of robotics systems in unstructured servicing environments requires dextrous manipulation abilities and facilities to perform complex remote operations in a very flexible way. Therefore we have developed a multisensory articulated four finger hand, where all actuators are integrated in the hand's palm or the fingers directly. It is an integrated part of a complex light-weight manipulation system aiming at the development of robonauts for space. After a brief description of the hand and it's sensorial equipment the hard- and software architecture is outlined with particular emphasis on flexibility and performance issues. The hand is typically controlled through a data glove for telemanipulation and skill-transfer purposes. Autonomous grasping and manipulation capabilities are currently under development.

关键词： Software architecture Fingers Hydraulic actuators Robots Mechanical sensors Force sensors Optical control Data gloves Orbital robotics Aerodynamics

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Computation of minimal realizations of periodic systems

Computation of minimal realizations of periodic systems

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IEEE Conference on Decision and Control

作者： A. Varga DLR-Oberpfaffenhofen Institute of Robotics and System Dynamics German Aerospace Center Wessling Germany

We propose balancing related numerically reliable methods to compute minimal realizations of linear periodic systems with time-varying dimensions. The first method belongs to the family of square-root methods with guaranteed enhanced computational accuracy and can be used to compute balanced minimal order realizations. An alternative balancing-free square-root method has the advantage of a potentially better numerical accuracy in case of poorly scaled original systems. The key numerical computation in both methods is the solution of nonnegative periodic Lyapunov equations directly for the Cholesky factors of the solutions. For this purpose, a numerically reliable computational algorithm is proposed to solve nonnegative periodic Lyapunov equations with time-varying dimensions.

关键词： Time varying systems Equations Algorithm design and analysis Observability Eigenvalues and eigenfunctions Robots Aerodynamics Control systems Robustness

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Key issues in the dynamic control of lightweight robots for space and terrestrial applications

Key issues in the dynamic control of lightweight robots for ...

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IEEE International Conference on robotics and Automation (ICRA)

作者： Jing-Xin Shi A. Albu-Schaffer G. Hirzinger Research Establishment DLR Institute for Robotics and System Dynamics German Aerospace Wessling Germany

Compared with industrial robots, the dlr lightweight robot characterizes a new milestone in the field of robot design. The module structure, the highly integrated electrical and mechanical components, the very low own-weight/load ratio, the high motion speed as well as the joint-torque feedback capability are the main features of this new robot generation aiming towards the functionality of a human arm. The paper attempts to integrate the newest results in the field of robotics, nonlinear control theory and electric drive systems to formulate the possible solutions of the dynamic control issues, Some experimental or simulation results are given to confirm the effectiveness of the proposed control approaches.

关键词： Lighting control Robot control Orbital robotics Robot sensing systems Service robots Aerodynamics Humans Torque Feedback Aerospace industry

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Learning techniques in a dataglove based telemanipulation system for the dlr hand

Learning techniques in a dataglove based telemanipulation sy...

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IEEE International Conference on robotics and Automation (ICRA)

作者： M. Fischer P. van der Smagt G. Hirzinger Institute of Robotics and System Dynamics German Aerospace Research Establishment (DLR) Wessling Germany

We present a setup to control a four-finger anthropomorphic robot hand using a dataglove. To be able to accurately use the dataglove we implemented a nonlinear learning calibration using a novel neural network technique. Experiments show that a resulting positioning error not exceeding 1.8 mm, but typically 0.5 mm, per finger can be obtained; this accuracy is sufficiently precise for grasping tasks. Based on the dataglove calibration we present a solution for the mapping of human and artificial hand workspaces that enables an operator to intuitively and easily telemanipulate objects with the artificial hand.

关键词： Data gloves Fingers Calibration Humans Robots Artificial neural networks Switches Aerodynamics Ear Grasping

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Intensity and feature based stereo matching by disparity parameterization

Intensity and feature based stereo matching by disparity par...

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International Conference on Computer Vision (ICCV)

作者： Guo-Qing Wei G. Hirzinger Institute of Robotics and System Dynamics German Aerospace Research Establishment (DLR) Oberpfaffenhofen Germany

In this paper, we propose a new solution to the stereo correspondence problem by including features an intensity based matching. The features we use are intensity gradients in both the x and y directions of the left and the deformed right images. Although a uniform smoothness constraint is still used, it is nevertheless applied only to non-feature regions. To avoid local minima in function minimization, we propose to parameterize the disparity function by hierarchical Gaussians. A simple stochastic gradient method is used to estimate the Gaussian weights. Experiments with various real stereo images show robust performances.

关键词： Stochastic processes Gradient methods Robustness Stereo vision Interpolation Cameras Robots Aerodynamics Humans Machine vision

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Hybrid Automata for Modeling Discrete Transitions in Complex Dynamic systems

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IFAC Proceedings Volumes 1998年第29期31卷 43-48页

作者： Pieter J. Mosterman Gautam Biswas Institute of Robotics and System Dynamics DLR Oberpfaffenhofen D-82230 Wessling. Germany. Knowledge Systems Laboratory Stanford University Stanford CA 94305. U.S.A.

Hybrid system models combine continuous behavior evolution with discrete mode transitions. These transitions may cause discontinuous changes in the field that defines continuous system behavior and the variable values associated with the continuous state vector. In reality, these discontinuous changes are fast continuous transients. To simplify the analysis of these transients time scale and parameter abstractions are applied to system models with very different impacts on the analysis of system behavior. We have developed a systematic modeling approach based on hybrid automata which combines a priori and a posteriori switching values to formally implement switching semantics associated with the abstraction events.

关键词： hybrid systems compositional modeling modeling abstractions

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