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European Control Conference (ECC)

作者： N. P. I. Aneke J. Ackermann T. Bünte H. Nijmeijer Eindhoven University of Technology Faculty of Mechanical Engineering P.O. Box 513 5600 MB Eindhoven The Netherlands DLR Oberpfaffenhofen Institute of Robotics and System Dynamics P.O. Box 1116 D-82230 Wessling Germany

A control design approach is presented for active steering of front wheel steered vehicles. The approach consists of the application of disturbance decoupling via state-derivative feedback. Simulations with the resulting controller show that the use of state-derivative information may considerably enhance vehicle safety, in particular under adverse operating conditions such as icy roads.

关键词： Vehicles Vehicle dynamics Wheels Roads Asymptotic stability Nonlinear dynamical systems

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Computation of coprime factorizations of rational matrices

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LINEAR ALGEBRA AND ITS APPLICATIONS 1998年第1-3期271卷 83-115页

作者： Varga, A DLR—Oberpfaffenhofen Institute of Robotics and System Dynamics P.O.B. 1116 D-82230 Wessling F.R.G.

We propose numerically reliable state-space algorithms for computing several coprime factorizations of rational matrices: (1) factorizations with factors having poles in a given stability domain;(2) factorizations with proper stable factors;(3) factorizations with inner and J-inner denominators. The new algorithms are based on a recursive generalized Schur algorithm for pole dislocation. They are generally applicable whether the underlying descriptor state-space representation is minimal or not, and whether it is stabilizable/detectable or not. The proposed algorithms are useful in solving various computational problems for both standard and descriptor system representations. (C) 1998 Elsevier Science Inc.

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How to escape from the fragility trap [control]

How to escape from the fragility trap [control]

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1998 American Control Conference, ACC 1998

作者： Kaesbauer, D. Ackermann, J. Oberpfaffenhofen Institute of Robotics and System Dynamics D 82234 Wessling Germany

The inverted pendulum is used as an example to illustrate controller fragility under minimum norm state feedback. The stabilization process gets trapped in a cusp. A parameter space representation shows a safe escape.... 详细信息

ISBN: (纸本)0780345304

关键词： Inverted pendulum

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DLR's multisensory articulated hand. II. The parallel torque/position control system 15

DLR's multisensory articulated hand. II. The parallel torque...

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15th IEEE International Conference on robotics and Automation, ICRA 1998

作者： Liu, H. Meusel, P. Butterfass, J. Hirzinger, G. DLR German Aerospace Center Institute of Robotics and System Dynamics Wessling82234 Germany

ISBN: (纸本)078034300X

This paper Gives a brief description of feedback control systems engaged in DLR's recently developed multisensory 4-finger robot hand. The work is concentrated on constructing the dynamic model and the control strategy for one joint of the fingers. One goal is to make the hand follow a dataglove for fine manipulation tasks. Our proposed strategy for this task is parallel torque/position control;sliding mode control is realized for the robust trajectory tracking in free space;while impedance control is provided for compliance control in the constrained environment;and an easily-designed parallel observer is used for the switch between these two control modes during the transition from or to contact motion. Some experimental results show the effectiveness of proposed strategy for the pure position control, torque control, and the transition control. © 1998 IEEE.

关键词： Position control

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DLR's multisensory articulated hand. I. Hard and software architecture 15

DLR's multisensory articulated hand. I. Hard and software ar...

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15th IEEE International Conference on robotics and Automation, ICRA 1998

作者： Butterfass, J. Hirzinger, G. Knoch, S. Liu, H. DLR German Aerospace Center Institute of Robotics and System Dynamics Wessling82234 Germany

ISBN: (纸本)078034300X

The main features of DLR's dextrous robot hand as a modular component of a complete robotics system are outlined in this paper. The application of robotics systems in unstructured servicing environments requires dextrous manipulation abilities and facilities to perform complex remote operations in a very flexible way. Therefore we have developed a multisensory articulated four finger hand, where all actuators are integrated in the hand's palm or the fingers directly. It is an integrated part of a complex light-weight manipulation system aiming at the development of robonauts for space. After a brief description of the hand and it's sensorial equipment the hard- And software architecture is outlined with particular emphasis on flexibility and performance issues. The hand is typically controlled through a data glove for telemanipulation and skill-transfer purposes. Autonomous grasping and manipulation capabilities are currently under development. © 1998 IEEE.

关键词： Hydraulic actuators

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Analysis of the dlr planetary roller spindle drive

Analysis of the dlr planetary roller spindle drive

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ASME 1998 Design Engineering Technical Conferences, DETC 1998

作者： Matthias, Dipl.-Ing Dlr German Aerospace Center Institute of Robotics and System Dynamics Muenchner Strabe 20 WesslingD-82234 Germany

ISBN: (纸本)9780791880319

The DLR Planetary Roller Spindle Drive (PRSD), a new linear actuator developed at the German Aerospace Center (DLR), transforms fast rotation of a drive into slow but powerful linear movement. To optimize dynamical behaviour and performance of modified PRSD design versions, modelling and calculation methods have been developed, taking into account the very special requirements of this new design. To analyze the operating characteristics and performance figures, the DLR Planetary Roller Spindle Drive was modelled as a multibody system (MBS). Special attention was directed on the description of the complex contact mechanics between the PRSD elements. Accompanying experiments ensured the accuracy of the modelling. Analysis of the MBS model of an existing PRSD in the time domain showed satisfying accordance with testbench measurements. © 1998 by ASME.

关键词： Mathematical transformations

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Predictive vision based control of high speed industrial robot paths

Predictive vision based control of high speed industrial rob...

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IEEE International Conference on robotics and Automation (ICRA)

作者： F. Lange P. Wunsch G. Hirzinger Institute of Robotics and System Dynamics DLR Wessling Germany

A predictive architecture is presented to react on sensor data in the case of high speed motion and low bandwidth sensor data. This concept is used for the vision based control of an industrial robot to track a contour at a speed of 1.6 m/s. The vision task can be performed very fast since only 2 rows of the image are analyzed. In this way an accuracy of 0.3 mm is reached in spite of uncertainties in robot's kinematic parameters. Vision and control work asynchronously so that even delay times are tolerable during sensing as long as the time-instant of the exposure is known.

关键词： Industrial control Service robots Robot vision systems Robot sensing systems Bandwidth Image analysis Performance analysis Uncertainty Robot kinematics Delay

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How to escape from the fragility trap [control]

How to escape from the fragility trap [control]

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American Control Conference (ACC)

作者： D. Kaesbauer J. Ackermann Institute of Robotics and System Dynamics Germany AeroSpace Center Wessling Germany Institite of Robotics and System Dynamics Germany AeroSpace Center Wessling Germany

关键词： Polynomials State feedback Aerospace control Stability Orbital robotics Aerodynamics Control systems Robust control Cranes Visualization

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Robust Torque Control for Robot Joints with Flexibility

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IFAC Proceedings Volumes 1998年第27期31卷 121-125页

作者： Jingxin Shi Gerd Hirzinger Institute for Robotics and System Dynamics German Aerospace Center (DLR) 82234 Wessling Germany

A practical solution of controlling flexible-joint robots is to control the joint torque, i.e. a robust joint torque controller with fast enough response is required. The position control problem of the flexible-joint robot will be reduced to the control of a rigid-body robot. This paper is dedicated to design such a torque controller using traditional feedback control and sliding mode techniques. Different from the conventional applications of sliding mode, which lead to the so-called chattering effects, sliding mode techniques are used in an estimation process to enhance the robustness of a pole-placement design. Hence, no chattering will be exicted

关键词： flexible arm singular perturbation method sliding mode control

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DLR's multisensory articulated hand. I. Hard- and software architecture

DLR's multisensory articulated hand. I. Hard- and software a...

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IEEE International Conference on robotics and Automation (ICRA)

作者： J. Butterfass G. Hirzinger S. Knoch H. Liu Ciermian AeroSpace Center Institute of Robotics and System Dynamics DLR Wessling Germany

The main features of DLR's dextrous robot hand as a modular component of a complete robotics system are outlined in this paper. The application of robotics systems in unstructured servicing environments requires dextrous manipulation abilities and facilities to perform complex remote operations in a very flexible way. Therefore we have developed a multisensory articulated four finger hand, where all actuators are integrated in the hand's palm or the fingers directly. It is an integrated part of a complex light-weight manipulation system aiming at the development of robonauts for space. After a brief description of the hand and it's sensorial equipment the hard- and software architecture is outlined with particular emphasis on flexibility and performance issues. The hand is typically controlled through a data glove for telemanipulation and skill-transfer purposes. Autonomous grasping and manipulation capabilities are currently under development.

关键词： Software architecture Fingers Hydraulic actuators Robots Mechanical sensors Force sensors Optical control Data gloves Orbital robotics Aerodynamics

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