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IEEE International Conference on robotics and Automation

作者： Ott, C Albu-Schäffer, A Kugi, A Stramigioli, S Hirzinger, G Inst. of Robotics and Mechatronics German Aerospace Center (DLR) Germany Department of System Theory Saarland University Germany CTIT Drebbel Institute University of Twente Netherlands

ISBN: (纸本)0780382323

In this paper a novel approach to the Cartesian Impedance Control problem for robots with flexible joints is presented. The proposed controller structure is based on simple physical considerations, which are motivating the extension of classical position feedback by an additional feedback of the joint torques. The torque feedback action can be interpreted as a scaling of the apparent motor inertia. Furthermore the problem of gravity compensation is addressed. Finally, it is shown that the closed loop system can be seen as a feedback interconnection of passive systems. Based on these passivity property a proof of asymptotic stability is presented.

关键词： Feedback control

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Virtual process: Concept, problems and implementation framework

Virtual process: Concept, problems and implementation framew...

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Fourth International Conference on Control and Automation

作者： Zhao, Xin Li, Ya-Wei Zhou, Yi-Yun Ren, Liang Lu, Gui-Zhang Inst. of Robotics and Information Automatic System Nankai University Tianjin 300071 China

ISBN: (纸本)078037777X

Taking the quantitative dynamic mechanical performance of MEMS device into acount, the accurate 3D geometric model of MEMS devices is very important. In this paper, the concept of virtual process was put forward;and each single process step is simulated by computer graphics at first;in this way, the whole process and typical shape changes are contained in virtual process. Next, the problems involved in realizing the virtual MEMS process are analyzed. Then, an implementation framework of virtual MEMS process based on expert system technology is given. Finally, an example of surface silicon process is realized, which verifies the feasibility of time and precision of implementation frame primarily. © 2003 IEEE.

关键词： Virtual reality

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Safe Arm with MR-based Passive Compliant Joints and Visco-elastic Covering for Service Robot Applications

Safe Arm with MR-based Passive Compliant Joints and Visco-el...

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2003 IEEE/RSJ International Conference on Intelligent Robots and systems

作者： Yoon, S.-S. Kang, S. Kim, S.-J. Kim, Y.-H. Kim, M. Lee, C.-W. Intelligent Robotics Research Center Korea Inst. of Sci. and Technology Sungbuk-ku Seoul 136-791 Korea Republic of Tribology Research Center Korea Inst. of Sci. and Technology Sungbuk-ku Seoul 136-791 Korea Republic of Intell. Mech. System Research Dept. Electro-Mech. Research Institute Hyundai Heavy Industries Co. Ltd. Yongin-shi Kyunggi-do 449-716 Korea Republic of

In this paper a safe arm with passive compliant joints and visco-elastic covering for human-friendly service robots is presented. The passive compliant joint (PCJ) is composed of a magneto-rheological (MR) damper and a rotary spring. The rotary spring gives the arm compliant property, but also it might be a source of vibration. Therefore the damper is introduced for damping effect and works as a rotary viscous damper by controlling the electric current according to the angular velocity of spring displacement. In an unexpected collision, the joints and cover passively operate and attenuate the applied collision force. The force attenuation property is being verified through collision experiments showing that the proposed passive arm overcomes limitations of an active compliant control approach.

关键词： robotics

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Flexible robot-assembly using a multi-sensory approach

Flexible robot-assembly using a multi-sensory approach

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ICRA 2000: IEEE International Conference on robotics and Automation

作者： Joerg, Stefan Langwald, Joerg Natale, Ciro Stelter, Johannes Hirzinger, Gerd Inst of Robotics and System Dynamics Wessling Germany

Recent research in industrial robotics aims at the involvement of additional sensoric devices to improve robustness, flexibility and performance of common robot applications. Many different sensors have been developed over the past years to fit the requirements of different but very specific tasks. Special seam tracking sensors support the robot in welding applications. Vision systems are common in quality control and inspection. Force/torque sensors mounted to a robot's wrist are still an exception and limited to the fields of scientific research. Compared to the number of annual robot sales the number of sensor equipped robots is still negligible, although the benefits of sensoric feedback are obvious. In this paper we introduce a general approach to tackle the problem of sensor-based robot assembly. We realized a flexible assembly cell that includes a variety of different sensors for mating with moving parts.

关键词： Robotic assembly

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Illumination-invariant retrieval of multicolored object using sampled spectrum image

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systems and Computers in Japan 2000年第3期31卷 59-67页

作者： Moriwaki, Kousuke Nakatani, Kotaro Department of System Technology Technol. Res. Inst. of Osaka Pref. Izumi Osaka 594-1157 Japan Osaka Prefecture University Osaka University Department of System Technology Technol. Res. Inst. of Osaka Pref. Info. Processing Society of Japan Inst. Syst. Contr. Info. Engineers Robotics Society of Japan Japan Soc. of Mechanical Engineers

A method of detecting multicolored objects with illumination invariance is described. We use a new image data format, a `sampled spectrum image' which samples values of spectrum of incident light at some wavelengths. To capture the image, we constructed a five-channel imaging system with a supersensitive CCD camera that had interference filters attached in front of the lens. Each interference filter has delta-function-like narrow spectral transmissivity. The ratio of corresponding pixel elements of two sampled spectrum images, which are measured under different illuminations, is independent of the spectral reflectivity of the target colors. The ratio depends only on the spectral distribution of the illumination. Our proposed algorithm can simultaneously detect the multicolored target object and estimate the change ratio of spectrum of illumination at the sampling wavelengths.

关键词： Object recognition

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Building hybrid automata of complex physical systems for real-time applications

Building hybrid automata of complex physical systems for rea...

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The 38th IEEE Conference on Decision and Control (CDC)

作者： Mosterman, Pieter J. Biswas, Gautam Inst of Robotics and System Dynamics

Dynamic behavior of complex physical systems is often nonlinear and includes multiple temporal scales. Singular perturbation methods decouple the fast and slow behavior and by assuming that the fast behavior is at a quasi steady state, the slow behavior of the system can be analyzed. The decoupling reduces the complex system of ordinary differential equations (ODEs) to simpler ODEs that allow fixed time step integration methods, and, therefore, are suitable for real-time applications. This model reduction may cause discontinuous jumps in the initial values of model variables. This paper applies and extends singular perturbation methods to compute discontinuous state changes for piecewise continuous, hybrid, models when the model configuration changes. Computing the explicit state change allows the use of hybrid automata as modeling framework when augmented with execution semantics for state vector updates around discontinuities.

关键词： Nonlinear control systems

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Sensorimotor compliant motion from geometric perception

Sensorimotor compliant motion from geometric perception

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1999 IEEE/RSJ International Conference on Intelligent Robots and systems (IROS'99): Human and Environment Friendly Robots whith High Intelligence and Emotional Quotients'

作者： Koeppe, Ralf Hirzinger, Gerd Inst of Robotics and System Dynamics Wessling Germany

Most of the approaches proposed in the field of sensor based assembly use force and velocity, i.e., sensor signals representing dynamics, as a base on which a desired compliant motion strategy is specified. In contrast, especially while performing alignment and insertion tasks the problem of sensing the assembly state of two objects w.r.t. each other is of geometric nature. Using a generic sensorimotor skill model for compliant motion tasks we discuss the difference between dynamic and geometric perception. We propose approaches of kinesthetic and visual sensing and show the robustness of compliant motion skill maps obtained from sensor signals representing the task geometry rather than the task dynamics.

关键词： Motion control

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Virtual operations of two typical MEMS devices - micromotor and micropump

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IFAC Proceedings Volumes 1999年第2期32卷 55-60页

作者： Xin Zhao Gui-Zhang Lu Ming Li Xiang-Dong An Inst. of Robotics & Information Automatic System Dept. of Computer & System Science Nankai University Tianjin 300071 P.R. China Tel: +86- 22- 23503544 Fax: +86- 22- 23500172

Virtual operations of two typical MEMS devices - micromotor and micropump are discussed in this paper. Micromotor is a well-developed MEMS device; its dynamics is available. The process of realizing virtual operation of well-developed device like micromotor, which involves geometric modeling and seeking recursive resolution of device dynamics, is given in this paper. Micropump is a developing device; its dynamics is unknown. Therefore, its dynamics must be derived, firstly. The process of realizing virtual operation of developing device is given in this paper. Finally, virtual operations of micromotor and micropump are implemented.

关键词： prototyping design virtual reality dynamics operation implementation

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Mechatronics in ground transportation - current trends and future possibilities

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Annual Reviews in Control 1998年 22卷 133-144页

作者： Kortuem, W. Goodall, R.M. Hedrick, J.K. Inst for Robotics and System Dynamics Wessling Germany

The paper provides a review of the current and future impact of mechatronic technologies upon ground transportation systems. The basic idea of mechatronics is explained first, followed by an appraisal of social and environmental factors which dictate the fundamental requirements for ground transport. The way in which mechatronics has already affected the design of road and rail systems is described, and various indications are given regarding future mechatronic developments. Some concluding remarks bring together the various ideas in order to predict the long term possibilities from a full exploitation of mechatronics.

关键词： Mechatronics

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Ontology for transitions in physical dynamic systems

Ontology for transitions in physical dynamic systems

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Proceedings of the 1998 15th National Conference on Artificial Intelligence, AAAI

作者： Mosterman, Pieter J. Zhao, Feng Biswas, Gautam Inst of Robotics and System Dynamics Wessling Germany

Physical systems often exhibit complex nonlinear behaviors in continuous time at multiple temporal and spatial scales. Abstractions simplify behavioral analysis and help focus on dominant system behaviors by defining sets of equivalent behavior types called modes. system behavior evolves in continuous modes with discrete transitions between modes. Subtle interactions between the continuous behaviors and discrete transitions need to be captured by well-defined hybrid modeling and analysis semantics. This paper presents a taxonomy of transition modes, and develops a formal semantics for transition conditions that lead to efficient and physically consistent simulation algorithms for physical systems.

关键词： Artificial intelligence

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