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IEEE Conference on Aerospace

作者： Stefan Barthelmes Fabian Buse Maxime Chalon Bastian Deutschmann Franz Hacker Roman Holderried Alexander Kolb Viktor Langofer André Fonseca Prince Hans-Jürgen Sedlmayr Juliane Skibbe Bernhard Vodermayer German Aerospace Center (DLR) Institute of System Dynamics and Control German Aerospace Center (DLR) Institute of Robotics and Mechatronics

IDEFIX is a four-wheeled 25kg rover that is jointly developed and built by the French Centre National d’Études Spatiales (CNES) and the German Aerospace Center (dlr). It will be brought to the Martian Moon Phobos by the Japan Aerospace Exploration Agency (JAXA) as part of the Martian Moons eXploration (MMX) mission in 2027. IDEFIX’s objectives are to scout the surface, demonstrate driving in milligravity and perform scientific measurements. To upright after landing on the surface, drive and align the rover to the sun, each wheel is mounted on a leg, which can be rotated full 360° in its respective shoulder joint. In previous publications, the development, flight design and qualification of the locomotion subsystem were *** the cruise phase there will be several health checks and – once landed on Phobos – the locomotion will be checked-out. To be able to analyze the health state quantitatively and parameterize the system properly, a good characterization of the system is important. The foundation of this characterization are tests and health-checks on the flight model (FM), as well as performance test results on the qualification model (QM). A selection of the post-processing and analysis of this measured data, that was done for the characterization of the Loco FM, is presented in this paper.

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Computational Techniques Based on the Block-Diagonal Form for Solving Large systems Modeling Problems

Computational Techniques Based on the Block-Diagonal Form fo...

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IEEE Regional Conference on Aerospace Control systems

作者： A. Varga German AeroSpace Research Establishment DLR Institute for Robotics and System Dynamics Wessling Germany

The reduction of the state-matrix of a linear time-invariant state-space model to a block-diagonal form by using a state coordinate transformation is equivalent with an additive decomposition of the corresponding transfer-function matrix. Computationally involved and large storage demanding algorithms for solving several systems modeling problems can be conveniently reformulated such that they perform exclusively on the low order subsystems corresponding to the individual terms of suitable additive decompositions. Important reductions of both the computational effort and required memory usually by using the reformulated algorithms and thus, their applicability can be extended to handle higher order systems. The paper presents several algorithms suitable to perform efficiently on additively decomposed systems. The effectiveness of these algorithms for solving large order systems modeling problems relies on a reliable numerical algorithm to compute the block-diagonal form of a matrix.

关键词： Modeling Matrix decomposition Algorithm design and analysis Robot kinematics Aerodynamics Control systems Books Continuous time systems Reduced order systems

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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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Registration of CAD-models to images by iterative inverse perspective matching

Registration of CAD-models to images by iterative inverse pe...

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International Conference on Pattern Recognition

作者： P. Wunsch G. Hirzinger German AeroSpace Research Establishment-DLR Institute for Robotics and System Dynamics Wessling Germany

A new algorithm for registering a 3D model to a single or a sequence of 2D images without a-priori knowledge of correspondences is presented. The algorithm is composed of two iterated steps: the first step determines correspondences between image features and model data, while the second one computes the 3D rigid body transformation that minimizes the displacement of the matched points. As camera images do not yield full 3D information, the key idea proposed is to exploit the inverse perspective, i.e. the projection ray determined by the focal point of the camera and an image feature point. The inverse perspective yields the constraints for both correspondence search and pose estimation in 3D space rather than in the image plane. This not only simplifies the motion parameter estimation but also reduces matching ambiguities due to occlusions. In addition, a robust M-estimation technique reduces the impact of false correspondences. Experimental results show that complex, 3D CAD-models can be registered efficiently and accurately to images, even if image features are incomplete, fragmented and noisy.

关键词： Cameras Iterative closest point algorithm Shape Robustness Machine vision Sensor systems Iterative algorithms Least squares methods Three dimensional displays Layout

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A-Student's View: On the Usefulness of a Professional Software Environment for Computer-Aided Control Education

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IFAC Proceedings Volumes 1994年第9期27卷 265-268页

作者： G. Grübel DLR Oberpfaffenhofen Control-Design Engineering Group Institute for Robotics and System Dynamics D-82234 Wessling Germany

For computer-aided control engineering education a scalable software technology is proposed, which is both useful for professional work in control engineering theory and practice and for novice training. The idea is to provide a common environment for computational experimenting in all stages of control engineering. This proposal is based on ANDECS (ANalysis & Design of Controlled systems), a modular interactive control- and system dynamics analysis and design system developed at the German Aerospace Research Establishment dlr.

关键词： Control Education Computer-Aided Control Engineering (CACE, CACSD)

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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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Modular concepts for a new generation of light weight robots

Modular concepts for a new generation of light weight robots

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International Conference on Industrial Electronics, Control and Instrumentation

作者： B. Gombert G. Hirzinger G. Plank M. Schedl Institute for Robotics and System Dynamics German Aerospace Research Establishment (DLR) Oberpfaffenhofen Germany

The paper outlines dlr's mechatronic developments in the robotics area over the last five years. They aim at designing a new multisensory, modularly configurable light weight robot generation in a unified and integral way. A first step in this direction has been the development of a complex multisensory gripper based on a fully modular hard- and software-concept. It turned out to be a key element in ROTEX, the first real robot in space which flew with shuttle COLUMBIA in early 1993. Sensors and actuators in dlr's new ultra-light-weight robot show up miniaturized integration of mechanics, electronics and of course microprocessor control. Joint torque based on inductive sensing may be combined with different type of gearings: translational ones (using a new spindle drive concept), originally developed for grippers but easily usable, e.g. in tendon driven elbow-like joints, as well as compact, highly reducing rotational ones. In combination with optimized carbon fibre grid structures and optical information transfer between the joints a new, extremely light-weight type of robot arises. All power and signal electronics is integrated into the arm which shows up a 1:1 ratio between load and own weight.< >

关键词： Orbital robotics Grippers Robot sensing systems Mechatronics Space shuttles Actuators Microprocessors Torque Tendons Optical sensors

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Multisensory shared autonomy and tele-sensor-programming-Key issues in the space robot technology experiment ROTEX

Multisensory shared autonomy and tele-sensor-programming-Key...

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Proceedings of 1993 IEEE/RSJ International Conference on Intelligent Robots and systems (IROS '93)

作者： B. Brunner G. Hirzinger K. Landzettel J. Heindl German AeroSpace Research Establishment (DLR) Institute for Robotics and System Dynamics Oberpfaffenhofen Germany

Outlines key technologies in the approach of the author's research establishment to space robotics. Based on multisensory gripper technology, local on-board sensory feedback, and predictive graphic simulation (with emphasis on sensory simulation) a tele-sensor programming concept is introduced that allows sensor-based teleoperation in spite of large signal delays as well as sensor-based off-line programming following a "learning by showing" concept. A small multisensory robot based on these concepts has flown in space with a ten-day Space Shuttle mission. This robot technology experiment ROTEX was very successful and showed that, with these sensor-based concepts, even present-day space robots can perform different prototype tasks in a variety of operational modes, including automatic (reprogrammable) operation, and on-board teleoperation using human and/or machine intelligence.

关键词： Space technology Robot sensing systems Orbital robotics robotics and automation Space shuttles Predictive models Robot programming Intelligent robots Grippers Feedback

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The ANDECS-Matlab environment for databased computational control experimenting

The ANDECS-Matlab environment for databased computational co...

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

作者： J. Bals H.-D. Joos G. Grubel Control Design Engineering Institute for Robotics and System Dynamics DLR-Oberpfaffenhofen Wessling Germany

The ANDECS-Matlab environment provides two alternatives for databased computational experimenting using Matlab: The module Amatlab is a re-implementation of the classic matlab syntax to be used for interactive specification of matrix calculations in modular computation sequences. This syntax is extended to allow database access for data communication with other databased modules. Alternatively, the module PROMAT allows one to use commercial MATLAB via process communication with online data transfer between the ANDECS database and the MATLAB workspace in both directions. This allows a convenient use of the matlab syntax and a coherent integration of M-file Toolboxes in any module sequence of the control-engineering software environment ANDECS.< >

关键词： MATLAB Design engineering Data engineering Communication system control Mathematical model Spatial databases Visual databases Control design Packaging Trademarks

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Active self-calibration of hand cameras and hand-eye relationships with motion planning

Active self-calibration of hand cameras and hand-eye relatio...

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IEEE International Conference on robotics and Automation (ICRA)

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

In this paper we propose a method for self-calibration of robotic hand cameras by means of active motion of the robot. Through tracking a set of world points of unknown coordinates, the internal parameters of the cameras (including lens distortions), the mounting parameters as well as the coordinates of the world points are estimated. The approach is fully autonomous, in that no initial guesses of the unknown parameters are to be provided from the outside by humans for the solution of a set of nonlinear equations. Sufficient conditions for a unique solution are derived in terms of controlled motion sequences. To improve robustness of the calibration, we propose to identify the best lens-distortion model by using F-test. Furthermore, a method is proposed to minimize the effect of robot motion uncertainties by motion planning. Experimental results in both a simulated and a real environments are reported.

关键词： Cameras Robot vision systems Robot kinematics Lenses Nonlinear distortion Humans Nonlinear equations Sufficient conditions Motion control Robustness

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