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IEEE International Symposium on Industrial Electronics (ISIE)

作者： G. Hirzinger B. Brunner R. Koeppe K. Landzettel J. Vogel DLR German AeroSpace Research Establishment Oberpfaffenhofen Institute of Robotics and System Dynamics Wessling Germany

The paper discusses the features of advanced telerobotic systems. ROTEX-the first remotely controlled spacerobot-serves as kind of a baseline. Future telerobotic systems need powerful man-machine interfaces which allow skill-transfer from human operator to robot and thus may be the foundations for new ways in industrial robot programming. VRML and JAVA open up wide potentials for telerobotic control via the Internet, including teleservicing and telepresence in medicine.

关键词： Service robots Orbital robotics Telerobotics Electrical equipment industry User interfaces Humans Medical robotics Robot programming Java Medical control systems

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Nonlinear Model-Based Control of a Pneumatically Driven Robot

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IFAC-PapersOnLine 2023年第2期56卷 8770-8775页

作者： Kathrin Hoffmann Christian Trapp Alexander Hildebrandt Oliver Sawodny Institute for System Dynamics University of Stuttgart D-70563 Stuttgart Germany Robotics System Design Festo SE & Co. KG D-73734 Esslingen Germany

In robotics, pneumatic drives are an interesting alternative to classic electric drives, as their physical properties enable the design of safe, lightweight and intuitively operable robots. In this work, a nonlinear model-based feedback control concept for a robot with 4 compressed-air-driven rotary joints is presented. The robot model comprising kinetics and pressure dynamics is formulated. For this drive type, significant nonlinear friction effects are present, which is known to be challenging for controller design, especially since there is no output-side measurement of the effective drive torque after subtracting friction. A control concept based on differential flatness, here with the particular case of feedback linearization, is derived, which is particularly well suited for a system with such effects. The algorithm contains both kinetics and pressure dynamics in one central controller, and its working principle and practical implications are discussed. With experimental results, the effectiveness of the trajectory tracking controller is demonstrated and insights into the components of this controller are provided.

关键词： robotics nonlinear control tracking control feedback linearization flatness-based control pneumatics

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MMX Rover Locomotion Subsystem-Development and Testing towards the Flight Model

MMX Rover Locomotion Subsystem-Development and Testing towar...

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2022 IEEE Aerospace Conference, AERO 2022

作者： Barthelmes, Stefan Bahls, Thomas Bayer, Ralph Bertleff, Wieland Bihler, Markus Buse, Fabian Chalon, Maxime Hacker, Franz Holderried, Roman Langofer, Viktor Lichtenheldt, Roy Moser, Sascha Sasaki, Kaname Sedlmayr, Hans-Jurgen Skibbe, Juliane Stubbig, Leon Vodermayer, Bernhard Institute of System Dynamics and Control Munchener Str. 20 Weßling 82234 Germany Institute of Robotics and Mechatronics Munchener Str. 20 WeBling 82234 Germany Institute of Space Systems Robert-Hooke-Str. 7 Bremen28359 Germany

ISBN: (纸本)9781665437608

Wheeled rovers have been successfully used as mobile landers on Mars and Moon and more such missions are in the planning. For the Martian Moon eXploration (MMX) mission of the Japan Aerospace Exploration Agency (JAXA), such a wheeled rover will be used on the Marsian Moon Phobos. This is the first rover that will be used under such low gravity, called milli-g, which imposes many challenges to the design of the locomotion subsystem (LSS). The LSS is used for unfolding, standing up, driving, aligning and lowering the rover on Phobos. It is a entirely new developed highly-integrated mechatronic system that is specifically designed for Phobos. Since the Phase A concept of the LSS, which was presented two years ago [1], a lot of testing, optimization and design improvements have been done. Following the tight mission schedule, the LSS qualification and flight models (QM and FM) assembly has started in Summer 2021. In this work, the final FM design is presented together with selected test and optimization results that led to the final state. More specifically, advances in the mechanics, electronics, thermal, sensor, firmware and software design are presented. The LSS QM and FM will undergo a comprehensive qualification and acceptance testing campaign, respectively, in the first half of 2022 before the FM will be integrated into the rover. © 2022 IEEE.

关键词： Firmware

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A novel Modelica signal analysis tool towards design of more electric aircraft

A novel Modelica signal analysis tool towards design of more...

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International Conference on Computer Science and Information Technology (CSIT)

作者： Y. Ji J. Bals Department of System Dynamics and Control German AeroSpace Center Institute of Robotics and Mechatronics Wessling Germany

The development of future more electric aircraft systems is a challenging process: The respective subsystems are highly integrated to achieve an optimum efficiency and performance both at aircraft and at systems level. For master this multi-disciplinary challenge, the use of powerful modeling and simulation technologies such as Modelica in all phases of the system development process is a key success factor. In this paper, a novel Modelica signal analysis tool - Modelica Scope that is suitable for the virtual testing activities in the verification and validation phase is presented. The Modelica Scope tool is implemented in the Modelica language incorporating diverse signal measurement and analysis capabilities and can be easily integrated in all simulation environments supporting Modelica such as Dymola, SimulationX etc. The motivation, design concept as well as implementation and distinct features of the tool are discussed and illustrated.

关键词： Mathematical model Computer languages Analytical models Lead MATLAB

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Optimization based steady-state analysis of switched power electronic systems

Optimization based steady-state analysis of switched power e...

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IEEE Workshop on Computers in Power Electronics

作者： Y. Ji A. Pfeiffer J. Bals Department of System Dynamics and Control German AeroSpace Center Institute of Robotics and Mechatronics Wessling Germany

This paper introduces an optimization based approach towards steady-state analysis of switched power electronic systems. The convergence performance of the optimization is improved by the estimation of the state variables in steady-state. Accurate state variable estimation can be achieved by previously simulating a set of multi-resolution approximations - averaged models of the original topological model using generalized averaging technique. An unified harmonic state space representation for a wide class of power electronic systems is presented to allow automatical generation of the averaged models with selective approximation accuracy. The proposed approach that has been implemented in Dymola is demonstrated by a pulse width modulated buck converter.

关键词： Optimization Steady-state Harmonic analysis Computational modeling Tuners Numerical models Switches

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Estimation of the number of narrowband signals in the presence of multipath propagation

Estimation of the number of narrowband signals in the presen...

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2012 IEEE 7th Sensor Array and Multichannel Signal Processing Workshop, SAM 2012

作者： Tao, Hao Xin, Jingmin Jiasong Wang Zheng, Nanning Sano, Akira Institute of Artificial Intelligence and Robotics Xi'an Jiaotong University Xi'an 710049 China State Key Laboratory of Astronautic Dynamics Xi'an 710043 China Department of System Design Engineering Keio University Yokohama 223-8522 Japan

ISBN: (纸本)9781467310710

In this paper, we address with the problem of detection the number of narrowband signals impinging on a uniform linear array (ULA) in the presence of multipath propagation. Firstly, by forming a differencing matrix from the array covariance matrix to eliminate the effects of uncorrelated incident signals and additive noises, a combined matrix is constructed from this differencing matrix to decorrelate the coherence of signals. Since the number of coherent signals is revealed as the rank of this resultant matrix, a singular value based ratio criterion is proposed to estimate the number of coherent signals. Then, another singular value based ratio criterion is also presented to determine the number of uncorrelated signals from the array covariance matrix. The notable advantage of the proposed method is that it can detect more signals compared to some existing methods, and the number of signals resolved by our method can exceed the number of array sensors. © 2012 IEEE.

关键词： Additive noise

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DSP/FPGA-based highly integrated flexible joint robot

DSP/FPGA-based highly integrated flexible joint robot

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2009 IEEE/RSJ International Conference on Intelligent Robots and systems

作者： Zongwu Xie Jingdong Zhao Jianbin Huang Kui Sun Genliang Xiong Hong Liu State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China China academy of Space Technology China Institute of Robotics and System Dynamics German Aerospace Center Germany

This paper presents a DSP/FPGA based multi-sensory flexible-joint robot including modular mechanics, hardware and software architecture. The robot is composed of four modular flexible joints and a DLR-HIT-Hand. In each joint there is a Field Programmable Gate Array (FPGA) for sensor data processing, brushless DC motor control and communication. The kernel of the hardware system is a PCI-based high speed floating-point Digital Signal Processor (DSP) for the arm/hand Cartesian level control, and FPGA for two high speed (up to 25 Mbps) real-time Serial Buses communication with the arm and hand. All the electronics are integrated into the joint to achieve the high modularity and reliability. Cartesian impedance control and position control with on-line gravity compensation are realized for regulation tasks of the robot with elastic joints. In addition, the experiments of the joint impedance control and Cartesian impedance control demonstrate that the multi-sensors highly integrated robot has a good performance.

关键词： Digital signal processing Field programmable gate arrays Robot sensing systems Sensor arrays Communication system control Impedance Hardware Software architecture Data processing Brushless DC motors

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Learning accurate path control of industrial robots with joint elasticity

Learning accurate path control of industrial robots with joi...

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IEEE International Conference on robotics and Automation (ICRA)

作者： F. Lange G. Hirzinger Institute of Robotics and System Dynamics Deutsches Zentrum fur Luft-und Raumfahrt (DLR) Wessling Germany

An adaptive architecture for feedforward control of industrial robots with standard positional controller is presented. This approach explicitly considers robots with elastic joints. It assumes that the real position of the tool centre point (TCP) can be recorded for offline evaluation. Compensation of elasticity is trained in a feedforward controller. Adaptation takes place without any knowledge of the physical system model. The performance of the method is demonstrated in experiments with a 6-axis industrial robot KUKA KR6/1 for which real path errors during full speed motion are reduced by 70%. Reductions of 50% can be expected for untrained paths or other robots of the same type.

关键词： Robot control Industrial control Service robots Elasticity Position measurement Electrical equipment industry Sampling methods Robot sensing systems Adaptive control Torque

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Skill representation and acquisition of compliant motions using a teach device

Skill representation and acquisition of compliant motions us...

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IEEE International Workshop on Intelligent Robots and systems (IROS)

作者： R. Koeppe A. Breidenbach G. Hirzinger Institute of Robotics and System Dynamics Deutsche Forschungsanstalt für Luft-und Raumfahrt (DLR) Germany

We are proposing a supervised learning approach in robot force control which enables robot programming by human demonstration. To demonstrate the task in an intuitive way, we designed a teach device which acquires the sensorimotion of the human. The design and use of the teaching device for skill acquisition is discussed. Recording of compliant motion, of the human is shown for the "put block in a corner of a box problem" and the "peg in hole problem". Skill representation is demonstrated for the first of the two problems. Finally we are describing other useful applications of the teach device in the field of world modeling and robotics.

关键词： Robot sensing systems Educational robots Humans Force sensors Force measurement Telerobotics Supervised learning Robot programming Education Robotic assembly

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Design of gain scheduling controllers in parameter space

Design of gain scheduling controllers in parameter space

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European Control Conference (ECC)

作者： Wolfgang Sienel Tilman Bunte DLR - German Aerospace Research Center Institute of Robotics and System Dynamics Oberpfaffenhofen 82234 Wessling Germany

Up to now the parameter space approach was either utilized for robustness analysis or for design of fixed gain controllers. This paper presents an extension of this method which allows the design of gain scheduling controllers which simultaneously stabilize a finite number of representatives of an uncertain plant. The approach is applied to an automotive control example.

关键词： Robustness Vehicles Damping Aerospace electronics Polynomials Dynamic scheduling Vehicle dynamics

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