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检索条件"机构=Institute for Robotics and System Dynamics"

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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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Intensity and feature based stereo matching by disparity parameterization

Intensity and feature based stereo matching by disparity par...

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International Conference on Computer Vision (ICCV)

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

In this paper, we propose a new solution to the stereo correspondence problem by including features an intensity based matching. The features we use are intensity gradients in both the x and y directions of the left and the deformed right images. Although a uniform smoothness constraint is still used, it is nevertheless applied only to non-feature regions. To avoid local minima in function minimization, we propose to parameterize the disparity function by hierarchical Gaussians. A simple stochastic gradient method is used to estimate the Gaussian weights. Experiments with various real stereo images show robust performances.

关键词： Stochastic processes Gradient methods Robustness Stereo vision Interpolation Cameras Robots Aerodynamics Humans Machine vision

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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...

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

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

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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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A fast and robust grasp planner for arbitrary 3D objects

A fast and robust grasp planner for arbitrary 3D objects

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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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Actuator rate limits in robust car steering control

Actuator rate limits in robust car steering control

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IEEE Conference on Decision and Control

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

Robust unilateral decoupling of car steering makes the yaw rate unobservable from the lateral acceleration at the front axle and thereby attenuates the effect of yaw disturbance torques on steering. The control system showed remarkable safety benefits in an experimental car. During the experiments, however, there occurred undesirable limit cycles caused by steering actuator rate limitations. In this paper limit cycles are analyzed by a describing function approach in combination with the representation of limit-cycle-free regions in a parameter plane of velocity and road-tire friction coefficient. The results are formulated in terms of required actuator bandwidth that achieves robustness in the entire operating range. It turns out that the use of a fading integrator reduces the required actuator bandwidth.

关键词： Actuators Robust control Robustness Limit-cycles Bandwidth Acceleration Axles Control systems Vehicle safety Friction

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World modeling for a sensor-in-hand robot arm

World modeling for a sensor-in-hand robot arm

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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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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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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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Diagnosis of actuator faults using LPV-gain scheduling techniques

Diagnosis of actuator faults using LPV-gain scheduling techn...

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AIAA Guidance, Navigation and Control Conference 2011

作者： Varga, Andreas Hecker, Simon Ossmann, Daniel Department of System Dynamics and Control Institute of Robotics and Mechatronics DLR Oberpfaffenhofen D-82234 Wessling Germany Department of Electrical Engineering and Information Technology University of Applied Sciences Munich D- 80335 Munich Germany

ISBN: (纸本)9781600869525

We present a new approach for the synthesis of robust fault detection filters for the model based diagnosis of actuator faults. The underlying synthesis model is a linear pa- rameter varying (LPV) description obtained using a combination of analytic and numerical parameter fitting techniques. The actuator LPV model contains uncertain parameters which are partly measurable, thus can be used for gain scheduling, and partly not measur- able, for which robustness must be ensured. The detector synthesis approach is basically a parametric nullspace method combined with min-max parameter fitting. The synthesis technique is applied to the diagnosis of two classes of actuator faults for a civil aircraft: elevator runaway and elevator jamming at null position. © 2011 by the American institute of Aeronautics and Astronautics, Inc. All rights reserved.

关键词： Elevators

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