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IEEE International Workshop on Intelligent Robots and systems (IROS)

作者： M. Fischer G. Hirzinger German Aerospace Research Establishment DLR Institute for Robotics and Systems Dynamics Wessling Germany

In the near future, more and more robots will be used for servicing tasks, tasks in hazardous environments or space applications. Dextrous hands are a powerful and flexible tool to interact with these real world environments that are not specially tailored for robots. In order to grasp and manipulate real world objects, grasp planning systems are required. Grasp planning for general 3D objects is quite a complex problem requiring a large amount of computing time. Fast algorithms are required to integrate grasp planners in online planning systems for robots. This paper presents an heuristic approach towards fast planning of precision grasps for realistic, arbitrarily shaped 3D objects. In this approach a number of feasible grasp candidates are generated heuristically. These grasp candidates are qualified using an efficiently computable grasp quality measure and the best candidate is chosen. 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： Fingers Prototypes Orbital robotics Force measurement Torque measurement Resists Power system planning Robust stability Switches Grippers

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Efficient C-space modelling using Kohonen maps

Efficient C-space modelling using Kohonen maps

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International Conference on Advanced robotics (ICAR)

作者： E. Ralli G. Hirzinger German Aerospace Research Establishment (DLR) Institute for Robotics and Systems Dynamics Wessling Germany

Global path planning for robot manipulators is a main topic in robot motion planning. Path planners using an explicit configuration-space (C-space) representation demonstrate resolution completeness. Keeping the C-space resolution reasonable with growing number of degrees of freedom (DOF) of a robot is a challenging problem, since the C-space grows exponentially with the number of DOF. The approach presented leads to a high resolution representation of collision-free C-space regions and a low one of colliding C-space regions. This C-space representation by a non-equidistant C-space grid is achieved by using Kohonen's self organizing feature maps. The effectiveness of the approach is demonstrated by examples of up to 5-dimensional C-spaces used by a path planner.

关键词： Self organizing feature maps Path planning Orbital robotics robotics and automation Manipulator dynamics Robot motion Motion planning Service robots Aerodynamics Neural networks

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Estimation of the tire cornering stiffness and its application to active car steering

Estimation of the tire cornering stiffness and its applicati...

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IEEE Conference on Decision and Control

作者： W. Sienel DLR German Aerospace Research Center Institute for Robotics and Systems Dynamics Wessling Germany

Active steering systems can help the driver to master critical driving situations, for example aquaplaning and /spl mu/-split braking. In these situations it is likely that the tires reach their performance limits, where nonlinear effects like saturation play an important role. Tires are the part in vehicle dynamics afflicted with the highest degree of nonlinearity due to saturation-and uncertainty-due to weather conditions. Therefore, active steering systems have to be designed considering the uncertain and nonlinear tire characteristics which are determined by the road-tire-contact. This paper demonstrates how an important tire parameter, the cornering stiffness, can be estimated by measurement of dynamic vehicle parameters like lateral accelerations and yaw rate. This parameter indicates whether the saturation region of the tire is reached or not. Based on the estimate of the tire the robust decoupling control law by Ackermann (1996) for active front steering is extended.

关键词： Tires Vehicle dynamics Vehicles Robustness Steering systems Acceleration Roads Wheels Vehicle driving Aerodynamics

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Dynamic manipulability analysis of compliant motion

Dynamic manipulability analysis of compliant motion

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Proceedings of the 1997 IEEE/RSJ International Conference on Intelligent Robot and systems. Innovative robotics for Real-World Applications. IROS '97

作者： R. Koeppe T. Yoshikawa German AeroSpace Research Establishment DLR Institute for Robotics and Systems Dynamics Germany Department of Mechanical Engineering Kyoto University Kyoto Japan

Compliant motion tasks can be programmed by human demonstration without the use of the actual robot system. In space applications and sensor off-line programming systems the task is planned and programmed in a virtual reality environment which simulates the world model of the task to be performed. Furthermore, in industrial and service applications teaching devices measuring the force and motion of the human hand allow the operator to demonstrate a task in a very natural way. By using dynamic manipulability analysis of motion and force, we investigate if a compliant motion trajectory obtained by the above described demonstration processes can be executed on a given robot. We analyze the maximum task workspace of executability, the optimal robot-task configuration and the range of necessary or possible scaling factors for motion and forces. The approach is demonstrated using a numerical example.

关键词： Motion analysis Humans Force measurement Service robots Robot sensing systems Orbital robotics Sensor systems and applications Robot programming Virtual reality Education

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Stability radius of discrete time-varying systems of descriptor form

Stability radius of discrete time-varying systems of descrip...

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IEEE Conference on Decision and Control

作者： C. Oara P. Van Dooren German Aerospace Research Establishment Institute for Robotics and Systems Dynamics Wessling Germany CESAME Universite Catholique de Louvain Louvain-la-Neuve Belgium

We derive a simple formula for the unstructured stability radii of a linear discrete time-dependent system of descriptor form E/sub k/x/sub k+1/=A/sub k/x/sub k/+u/sub k/ subject to additive time-varying perturbations... 详细信息

关键词： Time varying systems Difference equations Robust stability Hilbert space Robots Aerodynamics Stability analysis

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Output Shaping for Robust Decoupling

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IFAC Proceedings Volumes 1996年第1期29卷 3282-3287页

作者： Jorge Mari Jürgen Ackermann Optimization and Systems Theory Department of Mathematics Royal Institute of Technology S-100 44 Sweden Institute of Robotics and System Dynamics German Aerospace Research Establishment Oberpfaffenhofen D-82230 Wessling Germany

Decoupling usually refers to partitioning the dynamics of a system in a convenient way related to a predefined set of system inputs and outputs. In this paper, instead of assuming a priori given outputs, those outputs which might give rise to nontrivial unobservable subspaces persistent under parameter variations are sought. This relaxation in the outputs gives room for the additional robustness requirement leading to robustly decoupled structures. The main contribution here is in writing explicitly the equations to be satisfied in the single output case and discussing in detail sufficient conditions for cases with up to two uncertain parameters There is no generic solution to the problem stated, but it becomes obvious from the car and aircraft application examples that solvable cases lead to practically relevant results.

关键词： Decoupling problems robust control parametric variations vehicle dynamics aircraft control

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ANDECS Computational Experimenting with the IAVSD Car-Suspension Benchmark ILTIS

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IFAC Proceedings Volumes 1995年第23期28卷 95-99页

作者： W. Schwartz H.-D. Joos DLR-Oberpfaffenhofen Vehicle Systems Dynamics Institute for Robotics & System Dynamics D-82230 Wessling Germany DLR-Oberpfaffenhofen Control Design Engineering Institute for Robotics & System Dynamics D-82230 Wessling Germany

Nonlinear vehicle system dynamics plays an important role in the development and the assessment of active suspension control systems. The current way of designing active suspension control systems mostly uses simplified models, in order to to apply analytical synthesis methods or to achieve low complexity of the controller when using such methods. However, advanced vehicle design require methodologies, that can deal with more complex vehicle models, as a step towards integrated design. Multi-objective control design is such a methodology, that is open to cope with any controller structure and arbitrary kind of models. In this case study the usefulness of this methodology is investigated by designing an actively controlled vehicle suspension with and without preview for the IAVSD benchmark model ILTIS. The full nonlinear model is used for design. The ’nonlinear’ results are compared to the results of a ’linear’ design, based on linearized vehicle models.

关键词： Computer-Aided Multi-Objective Design Vehicle System dynamics Automotive Car-Suspensions

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On computing J-inner-outer factorizations of rational matrices

On computing J-inner-outer factorizations of rational matric...

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American Control Conference (ACC)

作者： A. Varga T. Katayama German AeroSpace Research Establishment Institute for Robotics and Systems Dynamics Wessling Germany Department Applied Mathematics and Physics Faculty of Engineering Kyoto University Kyoto Japan

Proposes a new numerically reliable computational approach to determine the J-inner-outer factorization of a rational matrix G. The proposed approach is completely general being applicable whenever G is proper or not, or of full column/row rank or not. In contrast to existing "one-shot" methods which require the solution of Riccati or generalized Riccati equations, the new approach is recursive and avoids such computationally involved steps by using instead a recursive state-space approach. The resulting factors have always minimal order descriptor representations.

关键词： Riccati equations Poles and zeros Aerospace engineering Robots Aerodynamics Mathematics Physics Reliability engineering

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The ANDECS-CACE framework A RSYST for integrated analysis and design of controlled systems

The ANDECS-CACE framework A RSYST for integrated analysis an...

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

作者： G. Grubel Control Design Engineering Institute for Robotics and Systems Dynamics DLR-Oberpfaffenhofen Wessling Germany

Computer-aided control engineering (CACE) environments, in order to be reusable in a broad spectrum of applications, have to be based on an open software framework which provides seven classes of services: database services; model-definition services; algorithmic services; tool-control services; task-control services; user-interaction services; message services. Details of the ANDECS framework A RSYST are given.< >

关键词： Control systems Databases Computer aided software engineering Algorithm design and analysis Control system synthesis Data engineering Design engineering Application software Software packages Control engineering computing

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Multi-objective design of controllers with fuzzy logic using the control engineering computation environment ANDECS

Multi-objective design of controllers with fuzzy logic using...

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

作者： H.-D. Joos M. Schlothane G. Grubel Control Design Engineering Institute for Robotics and Systems Dynamics DLR-Oberpfaffenhofen Wessling Germany

The fuzzy-control methodology can be seen as a systematic way to specify controllers with nonlinear gain surfaces. To properly tune such controllers, computer-aided techniques can be applied provided appropriate plant models are available such as in more classical design approaches. In particular, it is shown how a multi-models/multi-criteria design for controllers with fuzzy logic can be carried out by using the ANDECS-MOPS Multi-Objective Programming System. For that a Control Data Object 'Fuzzy-Controller' is developed together with a graphical editor for defining the linguistic variables. This represents the dynamic synthesis part of the design framework. Using a model building environment like Dymola or ACSL which is linked to ANDECS via DSblock, the fuzzy controller connected to dynamic plant models can be optimized by MOPS. This is demonstrated for a multi-criteria design problem for an aerodynamically unstable aircraft.< >

关键词： Fuzzy logic Control engineering Control engineering computing Fuzzy control Aerodynamics Design engineering Control systems Control design Nonlinear control systems Buildings

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