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Proceedings of IEEE/RSJ International Conference on Intelligent Robots and systems (IROS'94)

作者： J. Guldner V.I. Utkin R. Bauer Institute for Robotics and System Dynamics DLR German Aerospace Research Establishment (DLR) Germany Institute for Robotics and System Dynamics DLR German Aerospace Research Establishment (DLR) Wessling Germany Siemens AG Munchen Germany

Autonomous navigation in unknown cluttered environments is one of the corner-stones of future applications of mobile robots. The complexity even of seemingly simple problems like point-to-point travel, to be solved in real-time, calls for a hierarchical system architecture. The authors present a three-layered path control system with three modules "global planning", "local navigation", and "collision avoidance". Each module is restricted to a subtask of limited competence and responsibility, allowing for on-line implementation within the associated time frame. Suitable module interaction provides the desired behavior of the overall system. This paper summarizes the main idea of each of the three modules. Experimental results with the Siemens mobile platform ROAMER illustrate the methodology and performance of the path control system in unprepared cluttered environments.< >

关键词： Mobile robots Control systems Navigation Collision avoidance Shape control Aerospace control Aerodynamics Tin Real time systems Hierarchical systems

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Task directed programming of sensor based robots

Task directed programming of sensor based robots

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IEEE International Workshop on Intelligent Robots and systems (IROS)

作者： B. Brunner K. Arbter G. Hirzinger German Aerospace Research Establishment (DLR) Oberpfaffenhofen Institute for Robotics and System Dynamics Germany German Aerospace Research Establishment (DLR) Oberpfaffenhofen Institute for Robotics and System Dynamics Wessling Germany

We propose the so-called TeleSensor programming concept that uses sensory perception to achieve local autonomy in robotic manipulation. Sensor based robot tasks are used to define elemental moves within a high level programming environment. This approach is applicable in both, the real robot's world and the simulated one. Beside the graphical off-line programming concept, the range of application lies especially in the field of teleoperation with large time delays. A shared autonomy concept is proposed that distributes intelligence between man and machine. The feasibility of graphically simulating the robot within its environment is extended by emulating different sensor functions to achieve a correct copy of the real system behaviour as far as possible. The programming paradigm is supported by a sophisticated graphical man machine interface. Sensor fusion aspects with respect to autonomous sensor controlled task execution are discussed as well as the interaction between the real and the simulated system.< >

关键词： Robot programming Robot sensing systems Intelligent sensors Sensor systems Sensor fusion Programming environments Delay effects Intelligent robots Machine intelligence Man machine systems

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Sliding mode control design based on Ackermann's formula

Sliding mode control design based on Ackermann's formula

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IEEE Conference on Decision and Control

作者： J. Ackermann V.I. Utkin DLR German Aerospace Research Establishment Institute for Robotics and System Dynamics Wessling Germany DLR German.Aerospace Research Establishment Institute for Robotics and System Dynamics Wessling Germany

The sliding mode control methods are developed to design systems which have the desired dynamic behavior and are robust with respect to perturbations. It is shown that the discontinuity plane for sliding mode control may be found in an explicit form using Ackermann's formula. Two design procedures are derived: 1) static controllers are designed to enforce sliding modes with the desired dynamic properties after a finite time interval; and 2) dynamic controllers are designed that exhibit the desired dynamic properties during the entire control process.< >

关键词： Sliding mode control Equations Control systems Motion control Nonlinear control systems Linear feedback control systems State feedback Eigenvalues and eigenfunctions Vectors Artificial intelligence

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CACSD-Frame for Robust Low-Complexity Control Law Design

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IFAC Proceedings Volumes 1997年第4期30卷 1-14页

作者： Georg Grübel DLR Institute of Robotics and System Dynamics Control Design Engineering Group Oberpfaffenhofen D-82234 Wessling Germany

Robust low-complexity control laws design is the ultimate goal which Computer-Aided Control system Design (CACSD) aims for. We recognize seven classes of services CACSD tools and environments have to support w.r.t. this view: physical system modelling with modelling uncertainty descriptions; mathematical system modelling with suited uncertainty models; system model analysis in state space, time- and frequency domain; control law synthesis; multiobjective (multicriteria and multimodel) synthesis-parameter tuning; nonlinear assessment via simulation; control code generation. We deal with state of the art aspects of such services and their integration within an interactively controlled automatic design feedback loop. This is illustrated by experience gained during the two-years GARTEUR a design challenge project on Robust Aircraft Flight Control, where 12 teams from 6 European countries demonstrated 11 different CACSD synthesis methods to design a landing-approach autopilot controller based on a Beluga-type aircraft model from Airbus Industries.

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Design and Analysis of Robust Control systems in PARADISE

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IFAC Proceedings Volumes 1997年第16期30卷 67-72页

作者： Wolfgang Sienel Jürgen Ackermann Tilman Bünte DLR - Institute of Robotics and System Dynamics Oberpfaffenhofen 82234 Wessling Germany Fax: +49/8153 28-1847

Most of the methods which are commonly used in parametric oriented robust control design and analysis require extensive symbolic and numerical computations. The Matlab toolbox PARADISE (PArametric Robustness Analysis and Design Interactive Software Environment) offers various methods of parametric robust control for an efficient application in a computer framework. Amongst the currently implemented methods are the parameter space approach, design in an invariance plane, calculation of stability profiles, and computation of stability radii. The application of the toolbox PARADISE is demonstrated by computation of stability radii for a state feedback controlled loading bridge.

关键词： Robust Control Computer-aided control system design

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Modeling and Simulation of Advanced Rail Vehicles

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IFAC Proceedings Volumes 1997年第8期30卷 473-478页

作者： A. Stribersky W. Rulka H. Netter A. Haigermoser Siemens SGP Verkehrstechnik GmbH Vienna and Graz Austria DLR Institute for Robotics and System Dynamics Wessling Germany

The growing importance of automatic control for the design of new bogies for rail vehicles is becoming increasingly visible. Since the development process of novel designs also needs new development tools, software to extend the multibody program SIMPACK has been written recently to serve for the simulation of advanced rail vehicles. In this paper the mathematical modeling for a railway vehicle with active car body tilting is described and simulation results, applying the developed software, are shown and compared with experimental results from a prototype vehicle.

关键词： railways vehicle dynamics active vehicle suspension simulation system analysis

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A global and resolution complete path planner for up to 6DOF robot manipulators

A global and resolution complete path planner for up to 6DOF...

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IEEE International Conference on robotics and Automation (ICRA)

作者： E. Ralli G. Hirzinger Institute of Robotics and System Dynamics German Aerospace Research Establishment (DLR) Germany

We present a resolution complete point to point path planner for up to 6 degrees of freedom (DOF) robot manipulators, based on a discretized configuration space (C-space) representation. The robot operates in an initially known workspace (W-space). Vision integration in an easy way makes the planner capable of dealing with initially unknown obstacles. Furthermore, a Kohonen map based reorganization of the C-space increases the resolution in collision free regions of the C-space and enables path finding even for difficult paths. Experiments with low on-line computation times (lying in the order of a fraction of a second to a few seconds) demonstrate the effectiveness of the planner.

关键词： Robots Orbital robotics Path planning Manipulator dynamics Aerodynamics Joining processes Energy resolution Computational efficiency Silicon Graphics

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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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SIMPACK - AN ANALYSIS AND DESIGN TOOL FOR MECHANICAL systemS

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VEHICLE system dynamics 1993年第SUP1期22卷 122-126页

作者： RULKA, W EICHBERGER, A DLR German Aerospace Research Establishment Institute for Robotics and System Dynamics D-82230 Wessling Germany

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Robust Nonlinear Decoupling and Yaw Stabilization of Four-Wheel Steering Cars

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IFAC Proceedings Volumes 1993年第2期26卷 7-10页

作者： J. Ackermann German Aerospace Research Establishment (DLR) InStitute for Robotics and System Dynamics D-8031 Oberpfaffenhofen Germany

Four-wheel car steering is modelled by a single-track model with nonlinear tire characteristics. A generic yaw-rate feedback law for robust decoupling of lateral and yaw motion is derived. For robust yaw stabilization a velocity scheduled yaw-rate feedback to rear-wheel steering is given, by which the linearized yaw subsystem gets velocity independent eigenvalues.

关键词： Automobiles four-wheel steering robust control decoupling nonlinear systems

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