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13th International Conference on Pattern Recognition, ICPR 1996

作者： Wunsch, P. Hirzinger, G. German Aerospace Research Establishment - DLR Institute for Robotics and System Dynamics 82230 Wessling Germany

ISBN: (纸本)081867282X

A new algorithm for registering a 3D model to a single or a sequence of 2D images without a-priori knowledge of correspondences is presented. The algorithm is composed of two iterated steps: the first step determines correspondences between image features and model data, while the second one computes the 3D rigid body transformation that minimizes the displacement of the matched points. As camera images do not yield full 3D information, the key idea proposed is to exploit the inverse perspective, i.e. the projection ray determined by the focal point of the camera and an image feature point. The inverse perspective yields the constraints for both correspondence search and pose estimation in 3D space rather than in the image plane. This not only simplifies the motion parameter estimation but also reduces matching ambiguities due to occlusions. In addition, a robust M-estimation technique reduces the impact of false correspondences. Experimental results show that complex, 3D CAD-models can be registered efficiently and accurately to images, even if image features are incomplete, fragmented and noisy. © 1996 IEEE.

关键词： Iterative methods

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On computing generalized inverses of rational matrices with applications

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ZEITSCHRIFT FUR ANGEWANDTE MATHEMATIK UND MECHANIK 1996年第SUPPL. 1期76卷 571-572页

作者： Varga, A DLR - Oberpfaffenhofen Institute for Robotics and System Dynamics D-82234 Wessling Germany

A numerically reliable computational approach based on descriptor systems techniques is proposed for the computation of the week generalized inverses of rational matrices. The main applications of the proposed method are in solving model matching problems and in computing the inner-outer or J-inner-outer factorizations of rational matrices.

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On-line trajectory optimization for kinematically redundant robot-manipulators and avoidance of moving obstacles

On-line trajectory optimization for kinematically redundant ...

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IEEE International Conference on robotics and Automation (ICRA)

作者： M. Schlemmer DLR Oberpfaffenhofen Institute for Robotics and System Dynamics Wessling Germany

Novel concepts are presented and verified for real-time dynamics trajectory optimization of kinematically redundant manipulators. The considered task of trajectory planning is to follow a moving target in three-dimensional work space. Hereby, the manipulator has to autonomously preserve explicitly formulated kinematic constraints such as moving obstacle avoidance and box-constraints on joint positions as well as dynamic constraints like box-constraints on joint velocities, accelerations and motor torques. The key idea is to transform the resulting overall motion planning problem into a timed series of variational problems, which, in turn, may be formulated as parameter optimization problems, that can be efficiently solved in real-time by the numerical method of sequential quadratic programming. Since the approach does not require an inverse kinematics formulation it is feasible for manipulators with redundant kinematics. The feasibility of the approach has been verified by example of a ten-degrees-of-freedom manipulator model.

关键词： Robots Manipulator dynamics Path planning Trajectory Kinematics Acceleration Calculus Real time systems Strategic planning Boundary value problems

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Computation of Kronecker-like forms of a system pencil: applications, algorithms and software

Computation of Kronecker-like forms of a system pencil: appl...

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

作者： A. Varga DLR-Oberpfaffenhofen Institute for Robotics and System Dynamics Wessling Germany

Kronecker-like forms of a system pencil are useful in solving many computational problems encountered in the analysis and synthesis of linear systems. The reduction of system pencils to various Kronecker-like forms can be performed by structure preserving O(n/sup 3/) complexity numerically stable algorithms. The presented algorithms form the basis of a modular collection of LAPACK compatible FORTRAN 77 subroutines to perform the reduction of a system pencil to several Kronecker-like forms.

关键词： Application software Software algorithms Vectors Eigenvalues and eigenfunctions Poles and zeros Riccati equations Robots Algorithm design and analysis Linear systems State-space methods

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On Stability Profiles

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IFAC Proceedings Volumes 1996年第1期29卷 3410-3415页

作者： Wolfgang Sienel DLR German Aerospace Research Center Institute for Robotics and System Dynamics Oberpfaffenhofen 82234 Wessling Germany

Stability analysis of nominal systems can be performed easily by computation and inspection of the plant's eigenvalues. This approach is quite common for nominal plants. If the plant model, however, contains bounded uncertain parameters, then sets of eigenvalues, i.e. regions in the complex plane must be calculated. The most important stability information is contained in the right hand boundary of such regions, which will be referred to as stability profile. For a small number of uncertain parameters the stability profile may be approximately calculated by parameter grid approaches. For a larger number of uncertain parameters it is essential to exploit specific uncertainty structures in the characteristic equation. An iterative method for computation of the stability profile by way of value set construction is presented for a class of uncertain systems and applied to the DLR plate experiment with 60 uncertain parameters.

关键词： Robustness analysis root set value set tree structured decomposition

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A global and resolution complete path planner for up to 6DOF robot manipulators

A global and resolution complete path planner for up to 6DOF...

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IEEE International Conference on robotics and Automation (ICRA)

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

We present a resolution complete point to point path planner for up to 6 degrees of freedom (DOF) robot manipulators, based on a discretized configuration space (C-space) representation. The robot operates in an initially known workspace (W-space). Vision integration in an easy way makes the planner capable of dealing with initially unknown obstacles. Furthermore, a Kohonen map based reorganization of the C-space increases the resolution in collision free regions of the C-space and enables path finding even for difficult paths. Experiments with low on-line computation times (lying in the order of a fraction of a second to a few seconds) demonstrate the effectiveness of the planner.

关键词： Robots Orbital robotics Path planning Manipulator dynamics Aerodynamics Joining processes Energy resolution Computational efficiency Silicon Graphics

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Optimal output feedback control: a multi-model approach

Optimal output feedback control: a multi-model approach

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

作者： A. Varga Institute for Robotics and System Dynamics German Aerospace Research Establishment Wessling Germany

In this paper we describe a computational approach to the optimal output feedback control of multi-model systems by means of a unique constant output feedback matrix. Extension of the method to output feedback control of multi-model periodic systems is also presented. The power of the proposed approach is illustrated by the simultaneous stabilization and optimization of a helicopter multi-model.

关键词： Output feedback Optimal control Performance analysis Control systems Helicopters Tin Linear matrix inequalities Aerospace control Robots Aerodynamics

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A computational approach for optimal periodic output feedback control

A computational approach for optimal periodic output feedbac...

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

作者： A. Varga S. Pieters German Aerospace Research Establishment Institute for Robotics and System Dynamics Wessling Germany

We discuss the numerical solution of the output feedback optimal periodic control problem by using a gradient search based optimization approach. For the evaluation of the cost function and its gradient explicit expressions are derived which involve the numerical solution of a pair of discrete-time periodic Lyapunov equations. Efficient numerically reliable algorithms based on the periodic Schur decomposition are proposed for the solution of these equations. The proposed algorithms are extensions of the methods proposed for standard systems. An example is given to illustrate the effectiveness of the presented approach.

关键词： Output feedback Optimal control Control systems Equations Cost function Mathematical model Symmetric matrices Performance analysis Search methods Aerospace control

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Registration of CAD-models to images by iterative inverse perspective matching

Registration of CAD-models to images by iterative inverse pe...

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International Conference on Pattern Recognition

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

关键词： Cameras Iterative closest point algorithm Shape Robustness Machine vision Sensor systems Iterative algorithms Least squares methods Three dimensional displays Layout

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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...

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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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