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TRANSPUTER-BASED MULTIBODY system DYNAMIC SIMULATION .1. THE RESIDUAL ALGORITHM - A MODIFIED INVERSE DYNAMIC FORMULATION

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MECHANICS OF STRUCTURES AND MACHINES 1994年第2期22卷 211-237页

作者： EICHBERGER, A [a]DLR—GERMAN AEROSPACE RESEARCH ESTABLISHMENT INSTITUTE FOR ROBOTICS AND SYSTEM DYNAMICS WESSLING GERMANY

The benefits of parallel multibody simulation are demonstrated in this paper. In Part I an extensive analysis of the options available in parallel multibody system simulation is given. As a result of this analysis, implicit integration schemes are proposed for simulation and a modified inverse dynamic formulation is presented, which generates the equations of motion directly, in an implicit differential-algebraic form. In Part II medium-and coarse-grain levels will be exploited for the parallelization of the modified inverse dynamic formulation and the integrator's Jacobian, respectively. Both approaches are implemented on a Transputer network, resulting in the PARSIM-package for parallel multibody simulation. Computational efficiences of the package are demonstrated.

关键词： systems analysis

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ROBUST DECOUPLING, IDEAL STEERING dynamics AND YAW STABILIZATION OF 4WS CARS

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AUTOMATICA 1994年第11期30卷 1761-1768页

作者： ACKERMANN, J [a]German Aerospace Research Establishment (DLR) Institute for Robotics and System Dynamics Oberpfaffenhofen D-82230 Wessling Germany

Four-wheel car steering is modeled by a single-track model with nonlinear tire characteristics. A generic control law for robust decoupling of lateral and yaw motion by yaw-rate feedback to front-wheel steering is derived. Ideal steering dynamics are achieved by velocity-scheduled lateral acceleration feedback to front-wheel steering. For robust yaw stabilization a velocity-scheduled yaw-rate feedback to rear-wheel steering is given, by which the linearized system gets velocity-independent yaw eigenvalues.

关键词： AUTOMOBILES ROBUST CONTROL DECOUPLING NONLINEAR systemS

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Vision for Space Robots on a Parallel Distributed Architecture

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Integrated Computer-Aided Engineering 1994年第5期1卷 431-452页

作者： Sánchez A., V. David German Aerospace Research Establishment DLR Oberpfaffenhofen Institute for Robotics and System Dynamics Wessling D-82330 Germany

This article reports on two main contributions: the introduction of a parallel distributed architecture for robot vision, and robust robot vision techniques and their computationally efficient parallel implementation for grasping a polyhedral object in 3-D space. The parallel distributed architecture for robot vision is based on transputers (message-passing parallel processors) and vector signal processors. Vision algorithms including straight line detection, binocular stereo correspondence, surface reconstruction, motion estimation, recognition, and localization have been implemented in the OCCAM parallel programming language and run in adequate processor network topologies. The integration of the Robot Vision system into the DLR Telerobotics Ground Station and its application in the frame-work of the first German space robotics experiment ROTEX (“robotics Technology EXperiment”) to the task of grasping a floating object, the DLR FreeFlyer, under μ-gravity is presented. For this task a hybrid approach to parallelism has been adopted involving geometric and algorithm parallelism. The integration of the whole set of robust robot vision techniques for this task is reported for the first time in this article. © John Wiley and Sons, Inc.

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A sliding mode control approach to automatic car steering

A sliding mode control approach to automatic car steering

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American Control Conference (ACC)

作者： J. Guldner V.I. Utkin J. Ackermann DLR Institute for Robotics and System Dynamics Wessling Germany

Highway automation is a promising approach to cope with increasing road traffic and congestions. An important control subtask of an intelligent vehicle/highway system is automatic steering for lateral vehicle control. Due to system uncertainties and the wide range of operating conditions, state-of-the-art robust control techniques are required. This paper introduces two automatic steering controllers for cars driving under highway conditions. The control design is based on sliding mode control and robust state observation. It is shown that good tracking of a reference path, delineated either continuously or discretely, can be achieved with a minimum effort in sensing and without preview of the road curvature.

关键词： Sliding mode control Automated highways Automatic control Control systems Robust control Automation Intelligent vehicles Road vehicles Uncertainty Control design

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A self-organizing algorithm for multisensory surface reconstruction

A self-organizing algorithm for multisensory surface reconst...

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IEEE International Workshop on Intelligent Robots and systems (IROS)

作者： A. Baader G. Hirzinger German Aerospace Research Establishment Institute for Robotics and System Dynamics Germany

In this paper a method is presented to reconstruct and model an unknown three-dimensional surface which is described by an unordered cloud of sampled surface points. For that purpose Kohonen's self-organizing feature map is modified accordingly. This algorithm models the 2-D subspace in the 3-D input space by defining the appropriate parameter grid. In the second part of the paper the authors discuss the extensions of Kohonen's algorithm, which were necessary to handle multiple sensor input, addressing orientation discontinuities and defining the reconstruction resolution according to surface properties. The result is a method which can perform satisfactorily on sparse as well as on dense input data. Because the surface is described in a parameterized form viewpoint independence is inherent. In the last part experiments with real and simulated data are presented, in which the ROTEX telerobotic station served as background scenario.< >

关键词： Surface reconstruction Shape Surface fitting Computer vision Layout Sensor systems Sensor phenomena and characterization Robots Aerodynamics Electronic mail

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Task directed programming of sensor based robots

Task directed programming of sensor based robots

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IEEE International Workshop on Intelligent Robots and systems (IROS)

作者： B. Brunner K. Arbter G. Hirzinger German Aerospace Research Establishment (DLR) Oberpfaffenhofen Institute for Robotics and System Dynamics Germany German Aerospace Research Establishment (DLR) Oberpfaffenhofen Institute for Robotics and System Dynamics Wessling Germany

We propose the so-called TeleSensor programming concept that uses sensory perception to achieve local autonomy in robotic manipulation. Sensor based robot tasks are used to define elemental moves within a high level programming environment. This approach is applicable in both, the real robot's world and the simulated one. Beside the graphical off-line programming concept, the range of application lies especially in the field of teleoperation with large time delays. A shared autonomy concept is proposed that distributes intelligence between man and machine. The feasibility of graphically simulating the robot within its environment is extended by emulating different sensor functions to achieve a correct copy of the real system behaviour as far as possible. The programming paradigm is supported by a sophisticated graphical man machine interface. Sensor fusion aspects with respect to autonomous sensor controlled task execution are discussed as well as the interaction between the real and the simulated system.< >

关键词： Robot programming Robot sensing systems Intelligent sensors Sensor systems Sensor fusion Programming environments Delay effects Intelligent robots Machine intelligence Man machine systems

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Sliding mode control design based on Ackermann's formula

Sliding mode control design based on Ackermann's formula

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IEEE Conference on Decision and Control

作者： J. Ackermann V.I. Utkin DLR German Aerospace Research Establishment Institute for Robotics and System Dynamics Wessling Germany DLR German.Aerospace Research Establishment Institute for Robotics and System Dynamics Wessling Germany

The sliding mode control methods are developed to design systems which have the desired dynamic behavior and are robust with respect to perturbations. It is shown that the discontinuity plane for sliding mode control may be found in an explicit form using Ackermann's formula. Two design procedures are derived: 1) static controllers are designed to enforce sliding modes with the desired dynamic properties after a finite time interval; and 2) dynamic controllers are designed that exhibit the desired dynamic properties during the entire control process.< >

关键词： Sliding mode control Equations Control systems Motion control Nonlinear control systems Linear feedback control systems State feedback Eigenvalues and eigenfunctions Vectors Artificial intelligence

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Robust decoupling of car steering dynamics with arbitrary mass distribution

Robust decoupling of car steering dynamics with arbitrary ma...

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American Control Conference (ACC)

作者： J. Ackermann German Aerospace Research Establishment Institute for Robotics and System Dynamics Wessling Germany

The lateral and yaw motions of a car with active steering shall be decoupled. For an ideal longitudinal mass distribution assumption decoupling by yaw rate feedback has been shown to be robust with respect to uncertain nonlinear tire side force characteristic, velocity and vehicle mass. The restrictive mass distribution assumption is now abandoned and a generalized decoupling control law for arbitrary mass distribution is derived. A second feedback control law yields a unity transfer function from the steering wheel input to the lateral acceleration at a specific point in the front part of the car.

关键词： Robustness Force feedback Vehicle dynamics Tires Vehicles Weight control Feedback control Transfer functions Wheels Acceleration

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A-Student's View: On the Usefulness of a Professional Software Environment for Computer-Aided Control Education

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IFAC Proceedings Volumes 1994年第9期27卷 265-268页

作者： G. Grübel DLR Oberpfaffenhofen Control-Design Engineering Group Institute for Robotics and System Dynamics D-82234 Wessling Germany

For computer-aided control engineering education a scalable software technology is proposed, which is both useful for professional work in control engineering theory and practice and for novice training. The idea is to provide a common environment for computational experimenting in all stages of control engineering. This proposal is based on ANDECS (ANalysis & Design of Controlled systems), a modular interactive control- and system dynamics analysis and design system developed at the German Aerospace Research Establishment DLR.

关键词： Control Education Computer-Aided Control Engineering (CACE, CACSD)

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The ANDECS-Matlab environment for databased computational control experimenting

The ANDECS-Matlab environment for databased computational co...

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

作者： J. Bals H.-D. Joos G. Grubel Control Design Engineering Institute for Robotics and System Dynamics DLR-Oberpfaffenhofen Wessling Germany

The ANDECS-Matlab environment provides two alternatives for databased computational experimenting using Matlab: The module Amatlab is a re-implementation of the classic matlab syntax to be used for interactive specification of matrix calculations in modular computation sequences. This syntax is extended to allow database access for data communication with other databased modules. Alternatively, the module PROMAT allows one to use commercial MATLAB via process communication with online data transfer between the ANDECS database and the MATLAB workspace in both directions. This allows a convenient use of the matlab syntax and a coherent integration of M-file Toolboxes in any module sequence of the control-engineering software environment ANDECS.< >

关键词： MATLAB Design engineering Data engineering Communication system control Mathematical model Spatial databases Visual databases Control design Packaging Trademarks

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