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检索条件"机构=DLR Institute of Robotics and System Dynamics"

共 140 条记录，以下是71-80 订阅

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World modeling for a sensor-in-hand robot arm

World modeling for a sensor-in-hand robot arm

引用

IEEE International Workshop on Intelligent Robots and systems (IROS)

作者： A. Baader G. Hirzinger Institute of Robotics and System Dynamics German Aerospace Research Establishment (DLR) Wessling Germany

In many robotics applications, e.g. telerobotics under long time delay, building a geometric world model from multisensory data is a crucial requirement. Using a sensor-in-hand configuration to generate a model referenced to the robot base, imposes specific problems. Moving the sensor frame on an arbitrary path over and around an unknown object generates a completely unordered 'data cloud'. A surface reconstruction algorithm, which is based on Kohonen's self-organizing feature maps is used to process this data cloud and to generate a useful surface description. This surface can be used for object recognition and pose estimation using algorithms which were developed in the field of range image understanding.

关键词： Robot sensing systems Surface reconstruction Clouds Telerobotics Delay effects Solid modeling Reconstruction algorithms Object recognition

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Fast path planning for robot manipulators using numerical potential fields in the configuration space

Fast path planning for robot manipulators using numerical po...

引用

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

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

We present a path planning algorithm for robot manipulators working in an initially known environment. An efficient method constructs the configuration space (C-space) of the robot and expands a local-minima-free numerical potential field in it. So the robot is able to move very fast and collision-free within its workspace (W-space). An extension of that principle allows the robot to handle autonomously new obstacles appearing in its W-space in a fast manner. We have implemented the planner on our 6 degrees of freedom (DOF)-considering 5 of them-space robot ROTEX working within a tight workcell. In order to reduce the off-line computation time of the C-space, the C-space may be only partially constructed taking approximately 5 minutes on a Silicon Graphics IRIS Indigo R4000. Pathfinding solutions for many practical situations are then produced in less than 1 minute.< >

关键词： Path planning Orbital robotics Robot kinematics Mobile robots Manipulator dynamics Computational complexity Aerodynamics Silicon Graphics Iris

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A fast and robust grasp planner for arbitrary 3D objects

A fast and robust grasp planner for arbitrary 3D objects

引用

IEEE International Conference on robotics and Automation (ICRA)

作者： Ch. Borst M. Fischer G. Hirzinger Institute of Robotics and System Dynamics German Aerospace Research Establishment (DLR) Wessling Germany

In order to grasp and manipulate real world objects, grasp planning systems are required, and they have to be very fast in order to be integrated in online planning systems for robots. This paper presents a method to compute a desirable grasp quality measure very fast and accurately. Based on this measure a heuristic approach towards fast planning of precision grasps for arbitrarily shaped 3D objects is described. A number of feasible grasp candidates are generated heuristically. These grasp candidates are qualified using the described grasp quality measure and the best candidate is chosen. The planned grasps are robust with respect to grasp placement. It is shown that only a relatively small number of grasp candidates has to be generated in order to obtain a good, although not optimal, grasp.

关键词： Robustness Orbital robotics Force measurement Torque measurement Fingers Power system planning Robust stability Aerodynamics Shape measurement Resists

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A graphical matrix editor to be used in ANDECS/MATLAB computation environments

A graphical matrix editor to be used in ANDECS/MATLAB comput...

引用

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

作者： R. Finsterwalder E.G. Berger G. Grubel Control Design Engineering Institute for Robotics and System Dynamics DLR-Oberpfaffenhofen Wessling Germany

Application and programming aspects of a portable graphical matrix editor are described. The editor is realized based on the X-Windows/Motif user interface library. It can be used as a stand-alone matrix data input and-display facility which is independent of a particular programming system. It can also be used as a module within interactive computation environments, like ANDECS or MATLAB, using client/server process communication or the MEX-file facility of MATLAB.< >

关键词： MATLAB Graphical user interfaces Computer interfaces Portable computers Dynamic programming Communication system control Control systems Character recognition Trademarks Control design

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REVIEW OF MULTIBODY COMPUTER CODES FOR VEHICLE system dynamics

引用

VEHICLE system dynamics 1993年第SUP1期22卷 3-31页

作者： KORTUM, W DLR (German Aerospace Research Establishment) Institute for Robotics and System Dynamics D-8031 Wessling FRG Germany

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

Learning techniques in a dataglove based telemanipulation sy...

引用

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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Real-time pose estimation of 3D objects from camera images using neural networks

Real-time pose estimation of 3D objects from camera images u...

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IEEE International Conference on robotics and Automation (ICRA)

作者： P. Wunsch S. Winkler G. Hirzinger Institute for Robotics and System Dynamics German Aerospace Research Establishment (DLR) Wessling Germany

This paper deals with the problem of obtaining a rough estimate of three dimensional object position and orientation from a single two dimensional camera image. Such an estimate is required by most 3-D to 2-D registration and tracking methods that can efficiently refine an initial value by numerical optimization to precisely recover 3-D pose. However the analytic computation of an initial pose guess requires the solution of an extremely complex correspondence problem that is due to the large number of topologically distinct aspects that arise when a three dimensional opaque object is imaged by a camera. Hence general analytic methods fail to achieve real-time performance and most tracking and registration systems are initialized interactively or by ad hoc heuristics. To overcome these limitations we present a novel method for approximate object pose estimation that is based on a neural net and that can easily be implemented in real-time. A modification of Kohonen's self-organizing feature map is systematically trained with computer generated object views such that it responds to a preprocessed image with one or more sets of object orientation parameters. The key idea proposed here is to choose network topology in accordance with the representation of 3-D orientation. Experimental results from both simulated and real images demonstrate that a pose estimate within the accuracy requirements can be found in more than 81% of all cases. The current implementation operates at 10 Hz on real world images.

关键词： Cameras Neural networks Robot vision systems Failure analysis Yield estimation Aerodynamics Electronic mail Optimization methods Image analysis Real time systems

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PARADISE-Parametric Robust Analysis and Design Interactive Software Environment: a Matlab-based robust control toolbox

PARADISE-Parametric Robust Analysis and Design Interactive S...

引用

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

作者： W. Sienel T. Bunte J. Ackermann Institute of Robotics and System Dynamics DLR German Aerospace Research Center Wessling Germany

This paper presents a new toolbox for robust control design and analysis. A drawback of physically motivated approaches to robust control has been the amount of extensive calculation required for various methods, e.g. parameter space approach. This new toolbox overcomes these problems and makes parametric robust control methods available in an efficient, easy comprehensible, and flexible manner. The toolbox uses Matlab/Simulink which is a well-know tool to most control engineers.

关键词： Robustness Software design Computer languages Robust control Stability Mathematical model Automotive engineering Polynomials Velocity control Parametric statistics

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ANDECS: a computation environment for robot-dynamics design automation

ANDECS: a computation environment for robot-dynamics design ...

引用

IEEE International Conference on robotics and Automation (ICRA)

作者： G. Grubel R. Finsterwalder H.-D. Joos A. Lewald M. Otter DLR Oberpfaffenhofen Control Design Engineering Institute for Robotics and System Dynamics Wessling Germany

Features of an available computation environment for robot-dynamics design are described. These are environments for object-oriented mechatronics/robot dynamics modeling, for executing dynamics simulation experiments, for multiobjective parameter and trajectory optimization, and for multivariate result visualization. The environments have a common look and feel and are coherently integrated using an engineering database system.< >

关键词： robotics and automation Design automation Object oriented modeling Mechatronics Design engineering systems engineering and theory Physics computing Robots Computational modeling Data engineering

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Real-time visual tracking of 3D objects with dynamic handling of occlusion

Real-time visual tracking of 3D objects with dynamic handlin...

引用

IEEE International Conference on robotics and Automation (ICRA)

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

Position-based visual servoing requires estimating and tracking the three dimensional position and orientation of a 3D target object from camera images. This paper describes a novel approach to the problem that consists of two steps. First, a set of spatial pose constraints is derived from image features, by means of which 3D object pose is calculated with an efficient model-fitting algorithm. Kalman-filtering is then used to estimate object velocity and acceleration. Compared to previous approaches that use Kalman-filters to directly estimate the object state from image features, the proposed method has a variety of advantages: Computation time is only O(n) rather than O(n/sup 3/) where n is the number of image features considered, sensor fusion is simplified and temporal estimation is decoupled from the choice of image features. The last point is of particular importance if occlusions that may occur during tracking are to be predicted and dynamically handled. With the tracking method proposed, a robot could be precisely controlled with respect to static objects and robustly follow targets moving in 6 degrees of freedom, while occasions were continuously predicted and appropriate features automatically selected at video rate (25 Hz). High robustness is obtained by Hough transform-based feature extraction.

关键词： Target tracking State estimation Visual servoing Cameras Acceleration Sensor fusion Robot sensing systems robotics and automation Automatic control Robust control

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