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检索条件"机构=Institute for Process Control Robotics"

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6D proximity servoing for preshaping and haptic exploration using capacitive tactile proximity sensors

6D proximity servoing for preshaping and haptic exploration ...

引用

2014 IEEE/RSJ International Conference on Intelligent Robots and Systems

作者： Stefan Escaida Navarro Martin Schonert Björn Hein Heinz Wörn Intelligent Process Control and Robotics Lab (IPR) Karlsruhe Institute of Technology (KIT) Germany

In this paper we present applications for a robot system whose gripper is equipped with distributed capacitive tactile proximity sensors (CTPS). Firstly, we introduce and evaluate a closed loop control scheme by which it is possible to align the gripper to objects or features of the environment using proximity values alone. We call this control method proximity servoing. It is implemented by equilibrating the sensor signals, resulting in a robust preshape in all 6DOF of the object pose. Objects can then be grasped with virtually no displacement. Secondly, also based on proximity servoing, we demonstrate and evaluate novel ideas for combined haptic and proximity-based exploration. Without any cues from an external camera the system is capable of detecting and exploring features such as curvatures, edges or corners of objects. It is also shown that tactile and proximity exploration steps can be used complementarily to increase efficiency in exploration while delivering accurate object measurements.

关键词： Grippers Robot sensing systems Optical sensors Capacitive sensors Haptic interfaces

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Non-linear compensation of production inaccuracies and material drift by adjusting the sensor data fusion algorithms for shape sensing based on FBG-optical fibers

Non-linear compensation of production inaccuracies and mater...

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International Conference on Multisensor Fusion and Integration for Intelligent Systems (MFI)

作者： Hendrikje Pauer Christoph Ledermann Wilderich Tuschmann Heinz Woern Institute for Anthropomatics and Robotics Intelligent Process Control and Robotics-Karlsruhe Institute of Technology Karlsruhe Germany Institute for Algebra and Geometry-Karlsruhe Institute of Technology Karlsruhe Germany

Shape sensing, where the shape of an object is estimated using fiber optical Fiber Bragg Grating (FBG) sensors, has gained increasing popularity in the last years. While the production process and the applications are different for the various research groups, the basic principle of shape sensing is the same: at certain cross-sections along the observed object, the information of three strain measurements is merged to one curvature information, and the information of these curvatures is then used to estimate the shape with various mathematical theories, depending on the application. Some effort has been made to calibrate and determine the accuracy of the shape sensor, but research on the influence of bad positioning of the Fiber Bragg Gratings seems relatively unattended. In this paper, one aspect of bad FBG positioning, namely inaccurate placement of the FBGs within one cross-section, and its influence on the reconstruction results is investigated. Furthermore, a modified approach for the reconstruction algorithm is presented, improving the reconstruction results for bad FBG placement compared to the conventional approach.

关键词： Shape Gratings Fiber gratings Robot sensing systems Strain

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Plausibility verification for situation awareness in safe human-robot cooperation

Plausibility verification for situation awareness in safe hu...

引用

IEEE International Workshop on Robot and Human Communication (ROMAN)

作者： Stephan Puls Heinz Wörn Karlsruhe Institute of Technology (KIT) Intelligent Process Control and Robotics Lab (IPR) Karlsruhe Germany

ISBN: (纸本)9781479967667

Achieving seamless human-robot cooperation requires the robot to recognize its surroundings and be aware of human actions and their implications. Still, no recognition method, e.g., for objects or actions, can achieve zero failure rates. Thus, robotic actions might be selected and planned based on false assumptions. This inherits risks for humans and machinery. Consequently, the verification of plausibility of recognition results considered in context can extract inconsistencies and regulate robotic behavior due to adapted risk assessment. In this paper, an approach for plausibility verification in a situation awareness system and corresponding risk estimation adaptation is presented and examined.

关键词： Estimation Cognition Robot sensing systems Unified modeling language Kinematics Service robots

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Uncertainty estimation for kinematic laser tracker measurements incorporating the control information of an industrial robot

Uncertainty estimation for kinematic laser tracker measureme...

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International Conference on Indoor Positioning and Indoor Navigation (IPIN)

作者： Thomas Ulrich Stephan Irgenfried Geodetic Institute (GIK) Karlsruhe Institute of Technology (KIT) Germany Institute for Process Control and Robotics (IPR) Karlsruhe Institute of Technology (KIT) Germany

Laser trackers are widely used in the field of industrial metrology to measure kinematic tasks such as tracking robot movements. In order to assess spatiotemporal deviations of a robots movement it is crucial to have a reliable uncertainty of the kinematic measurements. Common methods to evaluate the uncertainty in kinematic measurements include approximations specified by the manufactures, various analytical adjustment methods and Kalman filters. In this paper a new, real-time approach is proposed, which estimates the 4D-path (3D-position + time) uncertainty of an arbitrary path in space by incorporating the control information of an industrial robot. The proposed approach relies on Bayesian filtering and avoids the need for predefined motion models due to the incorporation of the robots control information into the analysis method. Furthermore, a common laser tracker model is augmented with kinematic properties in order to be utilized as a self-regulating measurement model, within the Bayesian filter. The new approach is demonstrated by using data obtained by tracking the tool centre point of a KR 5 ARC industrial robot with a synchronized Leica laser tracker AT901. It shows that the proposed approach is more appropriate to analysing kinematic processes, as it avoids all problems arising from predefined motion models in Bayesian filters for tracking. In comparison with the manufacturers approximations, the new approach takes account of kinematic behaviour, with an improved description of the real measurement process and a reduction in estimated variance. This approach is therefore well-suited to the analysis of robot movements.

关键词： Kinematics Tracking Robot kinematics Uncertainty Service robots Measurement uncertainty

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Immersion and Invariance based Adaptive Attitude Tracking control of a Quadrotor UAV in the Presence of Parametric Uncertainty

Immersion and Invariance based Adaptive Attitude Tracking Co...

引用

第三十三届中国控制会议

作者： Bo Zhao Bin Xian Yao Zhang Xu Zhang The Institute of Robotics and Autonomous System the Tianjin Key Laboratory of Process Measurement and ControlSchool of Electrical Engineering and Automation Tianjin University

ISBN: (纸本)9781479947249

In this paper, a new adaptive controller for a quadrotor unmanned aerial vehicle(UAV) is presented via Immersion and Invariance(I&I) approach. The quadrotor's dynamic model is subjected to some uncertain parameters such as the inertial moments, aerodynamic damping coefficients and so on. In particular, the mass-eccentric effects by the payloads are also *** all these uncertainties above, the proposed adaptive controller is still capable of driving the quadrotor UAV's attitude asymptotically to a desired trajectory. The stability analysis is performed by Lyapunov techniques and LaSalle's invariance theorem. Numerical simulation results illustrate the good tracking performance of the proposed scheme.

关键词： quadrotor,UAV,adaptive control,immersion and invariance,I&I

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Pixelwise object class segmentation based on synthetic data using an optimized training strategy

Pixelwise object class segmentation based on synthetic data ...

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International Conference on Networks & Soft Computing (ICNSC)

作者： Frank Dittrich Heinz Woern Vivek Sharma Sule Yayilgan Institute for Process Control and Robotics Karlsruher Institute of Technology (KIT) Karlsruhe Germany Faculty of Computer Science and Media Technology Gjovik University College Gjovik Norway

In this paper we present an approach for low-level body part segmentation based on RGB-D data. The RGB-D sensor is thereby placed at the ceiling and observes a shared workspace for human-robot collaboration in the industrial domain. The pixelwise information about certain body parts of the human worker is used by a cognitive system for the optimization of interaction and collaboration processes. In this context, for rational decision making and planning, the pixelwise predictions must be reliable despite the high variability of the appearance of the human worker. In our approach we treat the problem as a pixelwise classification task, where we train a random decision forest classifier on the information contained in depth frames produced by a synthetic representation of the human body and the ceiling sensor, in a virtual environment. As shown in similar approaches, the samples used for training need to cover a broad spectrum of the geometrical characteristics of the human, and possible transformations of the body in the scene. In order to reduce the number of training samples and the complexity of the classifier training, we therefore apply an elaborated and coupled strategy for randomized training data sampling and feature extraction. This allows us to reduce the training set size and training time, by decreasing the dimensionality of the sampling parameter space. In order to keep the creation of synthetic training samples and real-world ground truth data simple, we use a highly reduced virtual representation of the human body, in combination with KINECT skeleton tracking data from a calibrated multi-sensor setup. The optimized training and simplified sample creation allows us to deploy standard hardware for the realization of the presented approach, while yielding a reliable segmentation in real-time, and high performance scores in the evaluation.

关键词： Training Robot sensing systems Feature extraction Image segmentation Labeling Vegetation Optimization

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Hovering control of a nano quadrotor unmanned aerial vehicle using optical flow

Hovering control of a nano quadrotor unmanned aerial vehicle...

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Chinese control Conference (CCC)

作者： Bin Xian Yang Liu Xu Zhang Meihui Cao Fu Wang The Institute of Robotics and Autonomous System The Tianjin Key Laboratory of Process Measurement and Control School of Electrical Engineering and Automation Tianjin University Tianjin Tianjin CN

In this paper, a PD controller which uses optical flow to obtain position and velocity feedback is proposed for the autonomous hovering flight control of a nano quadrotor unmanned aerial vehicle (UAV). The nano quadrotor UAV has a mass less than 100 g and is comparatively much smaller than the micro vehicles utilized in previous research. Due to the limited size and payload ability, a wireless camera is employed as the onboard visual device to obtain the position and translational velocity of the UAV. Experiment results are included to demonstrate the good control performance of the proposed design.

关键词： Image motion analysis Computer vision Optical imaging Optical sensors Adaptive optics Optical filters Optical feedback

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A Continuous Robust control Design for a Class of Non-Affine Nonlinear Dynamics with Non-varnishing Disturbance

A Continuous Robust Control Design for a Class of Non-Affine...

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American control Conference

作者： Yao Zhang Bin Xian Bo Zhao Xiang Liu Institute of Robotics and Autonomous System the Tianjin Key Laboratory of Process Measurement and Control Schoool of Electrical Engineering and Automation Tianjin University Tianjin 300072 China

ISBN: (纸本)9781479932757

In this paper, the problem for the control of a class of single-input-single-output (SISO) non-affine nonlinear system with non-varnishing disturbance is investigated. A continuous nonlinear feedback structure is utilized to tackle with the uncertain dynamics in the system. By taking the time derivative of the origin system, a transformed affine-like form is derived. The first order derivative of control input appears linearly in the augmented dynamics with unknown control direction. Nussbaum-type function is incorporated to estimate the unknown control direction. A revised Lyapunov based analysis is carried out to prove that under some moderate assumptions, the Semi-global Uniformly Ultimately Bounded (SGUUB) tracking result is achieved and all the closed loop signals are bounded. Numerical simulation results are presented to illustrate the performance of the proposed control law.

关键词： Radio frequency Nonlinear dynamical systems Stability analysis Trajectory Tracking loops control design Equations

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Nonlinear Asymptotic Attitude Tracking control for an Unmanned Helicopter with Input Constraints

Nonlinear Asymptotic Attitude Tracking Control for an Unmann...

引用

American control Conference

作者： Xiang Liu Bin Xian Yao Zhang Xu Zhang Institute of Robotics and Autonomous System the Tianjin Key Laboratory of Process Measurement and Control Schoool of Electrical Engineering and Automation Tianjin University Tianjin 300072 China

ISBN: (纸本)9781479932757

In this paper a nonlinear attitude tracking control scheme is developed for a small-scaled unmanned helicopter under input constraints. Via the analysis of the properties associated with the helicopter's rotor dynamics, the elevator servo input, the aileron servo input, and the rudder servo input are chosen to be the control inputs to be designed. Their constraints in amplitude under hovering flight is taken into account by using the robust bounded terms in the controller design. The asymptotic convergence of the tracking error is guaranteed with the Lyapunov-based stability analysis.

关键词： Helicopters Rotors Attitude control Vectors Servomotors Stability analysis Equations

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Fast on-board motion planning for modular robots

Fast on-board motion planning for modular robots

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IEEE International Conference on robotics and Automation (ICRA)

作者： Vojtech Vonäsek Lutz Winkler Jens Liedke Martin Saska Kareł Kosnar Libor Preucil Ceske Vysoke Uceni Technicke v Praze Praha CZ Institute for Process Control and Robotics (IPR) Engler-Bunte-Ring 8 D-76131 Karlsruhe Germany

Modular robots, which are systems made of many robotic modules, can utilize various types of locomotion. Different approaches can be used to generate these basic motion skills - motion primitives. To move in a complex environment, several motion primitives are needed and a mechanism to switch them is required. This can be realized using a high-level motion planning. To enable autonomous operation of modular robots equipped with limited computational resources, it is necessary to generate the motion plans on-board, i.e., without external computers. In this paper, we propose a novel simplified motion model of a modular robot, which allows the robot to employ the motion planner as a fast on-board replanner. The proposed approach has been verified both in simulations as well as with real robots.

关键词： Planning Navigation Trajectory Mobile robots Joints Computational modeling

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