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

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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Key issues in the dynamic control of lightweight robots for space and terrestrial applications

Key issues in the dynamic control of lightweight robots for ...

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IEEE International Conference on robotics and Automation (ICRA)

作者： Jing-Xin Shi A. Albu-Schaffer G. Hirzinger Research Establishment DLR Institute for Robotics and System Dynamics German Aerospace Wessling Germany

Compared with industrial robots, the DLR lightweight robot characterizes a new milestone in the field of robot design. The module structure, the highly integrated electrical and mechanical components, the very low own-weight/load ratio, the high motion speed as well as the joint-torque feedback capability are the main features of this new robot generation aiming towards the functionality of a human arm. The paper attempts to integrate the newest results in the field of robotics, nonlinear control theory and electric drive systems to formulate the possible solutions of the dynamic control issues, Some experimental or simulation results are given to confirm the effectiveness of the proposed control approaches.

关键词： Lighting control Robot control Orbital robotics Robot sensing systems Service robots Aerodynamics Humans Torque Feedback Aerospace industry

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Computational Techniques Based on the Block-Diagonal Form for Solving Large systems Modeling Problems

Computational Techniques Based on the Block-Diagonal Form fo...

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IEEE Regional Conference on Aerospace Control systems

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

The reduction of the state-matrix of a linear time-invariant state-space model to a block-diagonal form by using a state coordinate transformation is equivalent with an additive decomposition of the corresponding transfer-function matrix. Computationally involved and large storage demanding algorithms for solving several systems modeling problems can be conveniently reformulated such that they perform exclusively on the low order subsystems corresponding to the individual terms of suitable additive decompositions. Important reductions of both the computational effort and required memory usually by using the reformulated algorithms and thus, their applicability can be extended to handle higher order systems. The paper presents several algorithms suitable to perform efficiently on additively decomposed systems. The effectiveness of these algorithms for solving large order systems modeling problems relies on a reliable numerical algorithm to compute the block-diagonal form of a matrix.

关键词： Modeling Matrix decomposition Algorithm design and analysis Robot kinematics Aerodynamics Control systems Books Continuous time systems Reduced order systems

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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

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.

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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Multisensory shared autonomy and tele-sensor-programming-Key issues in the space robot technology experiment ROTEX

Multisensory shared autonomy and tele-sensor-programming-Key...

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Proceedings of 1993 IEEE/RSJ International Conference on Intelligent Robots and systems (IROS '93)

作者： B. Brunner G. Hirzinger K. Landzettel J. Heindl German AeroSpace Research Establishment (DLR) Institute for Robotics and System Dynamics Oberpfaffenhofen Germany

Outlines key technologies in the approach of the author's research establishment to space robotics. Based on multisensory gripper technology, local on-board sensory feedback, and predictive graphic simulation (with emphasis on sensory simulation) a tele-sensor programming concept is introduced that allows sensor-based teleoperation in spite of large signal delays as well as sensor-based off-line programming following a "learning by showing" concept. A small multisensory robot based on these concepts has flown in space with a ten-day Space Shuttle mission. This robot technology experiment ROTEX was very successful and showed that, with these sensor-based concepts, even present-day space robots can perform different prototype tasks in a variety of operational modes, including automatic (reprogrammable) operation, and on-board teleoperation using human and/or machine intelligence.

关键词： Space technology Robot sensing systems Orbital robotics robotics and automation Space shuttles Predictive models Robot programming Intelligent robots Grippers Feedback

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REVIEW OF MULTIBODY COMPUTER CODES FOR VEHICLE system dynamics

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VEHICLE system dynamics 1993年第SUP1期22卷 3-31页

作者： KORTUM, W DLR (German Aerospace Research Establishment) Institute for Robotics and System Dynamics D-8031 Wessling FRG Germany

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ANDECS: a computation environment for robot-dynamics design automation

ANDECS: a computation environment for robot-dynamics design ...

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IEEE International Conference on robotics and Automation (ICRA)

作者： G. Grubel R. Finsterwalder H.-D. Joos A. Lewald M. Otter DLR Oberpfaffenhofen Control Design Engineering Institute for Robotics and System Dynamics Wessling Germany

Features of an available computation environment for robot-dynamics design are described. These are environments for object-oriented mechatronics/robot dynamics modeling, for executing dynamics simulation experiments, for multiobjective parameter and trajectory optimization, and for multivariate result visualization. The environments have a common look and feel and are coherently integrated using an engineering database system.< >

关键词： robotics and automation Design automation Object oriented modeling Mechatronics Design engineering systems engineering and theory Physics computing Robots Computational modeling Data engineering

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Active self-calibration of hand cameras and hand-eye relationships with motion planning

Active self-calibration of hand cameras and hand-eye relatio...

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IEEE International Conference on robotics and Automation (ICRA)

作者： G.-Q. Wei K. Arbter G. Hirzinger Institute of Robotics and System Dynamics German Aerospace Research Establishment (DLR) Oberpfaffenhofen Germany

In this paper we propose a method for self-calibration of robotic hand cameras by means of active motion of the robot. Through tracking a set of world points of unknown coordinates, the internal parameters of the cameras (including lens distortions), the mounting parameters as well as the coordinates of the world points are estimated. The approach is fully autonomous, in that no initial guesses of the unknown parameters are to be provided from the outside by humans for the solution of a set of nonlinear equations. Sufficient conditions for a unique solution are derived in terms of controlled motion sequences. To improve robustness of the calibration, we propose to identify the best lens-distortion model by using F-test. Furthermore, a method is proposed to minimize the effect of robot motion uncertainties by motion planning. Experimental results in both a simulated and a real environments are reported.

关键词： Cameras Robot vision systems Robot kinematics Lenses Nonlinear distortion Humans Nonlinear equations Sufficient conditions Motion control Robustness

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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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