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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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A graphical matrix editor to be used in ANDECS/MATLAB computation environments

A graphical matrix editor to be used in ANDECS/MATLAB comput...

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

作者： R. Finsterwalder E.G. Berger G. Grubel Control Design Engineering Institute for Robotics and System Dynamics DLR-Oberpfaffenhofen Wessling Germany

Application and programming aspects of a portable graphical matrix editor are described. The editor is realized based on the X-Windows/Motif user interface library. It can be used as a stand-alone matrix data input and-display facility which is independent of a particular programming system. It can also be used as a module within interactive computation environments, like ANDECS or MATLAB, using client/server process communication or the MEX-file facility of MATLAB.< >

关键词： MATLAB Graphical user interfaces Computer interfaces Portable computers Dynamic programming Communication system control Control systems Character recognition Trademarks Control design

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Fast path planning for robot manipulators using numerical potential fields in the configuration space

Fast path planning for robot manipulators using numerical po...

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Proceedings of IEEE/RSJ International Conference on Intelligent Robots and systems (IROS'94)

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

We present a path planning algorithm for robot manipulators working in an initially known environment. An efficient method constructs the configuration space (C-space) of the robot and expands a local-minima-free numerical potential field in it. So the robot is able to move very fast and collision-free within its workspace (W-space). An extension of that principle allows the robot to handle autonomously new obstacles appearing in its W-space in a fast manner. We have implemented the planner on our 6 degrees of freedom (DOF)-considering 5 of them-space robot ROTEX working within a tight workcell. In order to reduce the off-line computation time of the C-space, the C-space may be only partially constructed taking approximately 5 minutes on a Silicon Graphics IRIS Indigo R4000. Pathfinding solutions for many practical situations are then produced in less than 1 minute.< >

关键词： Path planning Orbital robotics Robot kinematics Mobile robots Manipulator dynamics Computational complexity Aerodynamics Silicon Graphics Iris

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Modular concepts for a new generation of light weight robots

Modular concepts for a new generation of light weight robots

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International Conference on Industrial Electronics, Control and Instrumentation

作者： B. Gombert G. Hirzinger G. Plank M. Schedl Institute for Robotics and System Dynamics German Aerospace Research Establishment (DLR) Oberpfaffenhofen Germany

The paper outlines DLR's mechatronic developments in the robotics area over the last five years. They aim at designing a new multisensory, modularly configurable light weight robot generation in a unified and integral way. A first step in this direction has been the development of a complex multisensory gripper based on a fully modular hard- and software-concept. It turned out to be a key element in ROTEX, the first real robot in space which flew with shuttle COLUMBIA in early 1993. Sensors and actuators in DLR's new ultra-light-weight robot show up miniaturized integration of mechanics, electronics and of course microprocessor control. Joint torque based on inductive sensing may be combined with different type of gearings: translational ones (using a new spindle drive concept), originally developed for grippers but easily usable, e.g. in tendon driven elbow-like joints, as well as compact, highly reducing rotational ones. In combination with optimized carbon fibre grid structures and optical information transfer between the joints a new, extremely light-weight type of robot arises. All power and signal electronics is integrated into the arm which shows up a 1:1 ratio between load and own weight.< >

关键词： Orbital robotics Grippers Robot sensing systems Mechatronics Space shuttles Actuators Microprocessors Torque Tendons Optical sensors

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Visual programming in ANDECS for controlled systems design experimenting

Visual programming in ANDECS for controlled systems design e...

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

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

Computer-aided design of 'well-balanced' dynamic systems is an iterative search process which requires multi-models/multi-criteria experimenting by means of appropriate computational chains and loops. Visual programming is the way to set up or to modify such an experimentation environment from reusable computational modules, and to monitor its functioning. As realized in the control-engineering software environment ANDECS (Analysis and Design of Controlled systems), visual programming relies on data abstraction in form of control data objects, and on tool abstraction to compose a software system from separate function modules which do not communicate among each other directly but via a suited database system only. In particular, this kind of visual programming yields a direct view on those parts of a modular computational set-up which can be automatically parallelized by the PVM (parallel virtual machine) software.< >

关键词： Control systems Functional programming Design automation Computerized monitoring Communication system software Software tools Software systems Database systems Automatic programming Parallel programming

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Mobile robots in complex environments: a three-layered hierarchical path control system

Mobile robots in complex environments: a three-layered hiera...

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Proceedings of IEEE/RSJ International Conference on Intelligent Robots and systems (IROS'94)

作者： J. Guldner V.I. Utkin R. Bauer Institute for Robotics and System Dynamics DLR German Aerospace Research Establishment (DLR) Germany Institute for Robotics and System Dynamics DLR German Aerospace Research Establishment (DLR) Wessling Germany Siemens AG Munchen Germany

Autonomous navigation in unknown cluttered environments is one of the corner-stones of future applications of mobile robots. The complexity even of seemingly simple problems like point-to-point travel, to be solved in real-time, calls for a hierarchical system architecture. The authors present a three-layered path control system with three modules "global planning", "local navigation", and "collision avoidance". Each module is restricted to a subtask of limited competence and responsibility, allowing for on-line implementation within the associated time frame. Suitable module interaction provides the desired behavior of the overall system. This paper summarizes the main idea of each of the three modules. Experimental results with the Siemens mobile platform ROAMER illustrate the methodology and performance of the path control system in unprepared cluttered environments.< >

关键词： Mobile robots Control systems Navigation Collision avoidance Shape control Aerospace control Aerodynamics Tin Real time systems Hierarchical systems

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PROGRESS IN INTEGRATED system-ANALYSIS AND DESIGN SOFTWARE FOR CONTROLLED VEHICLES

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VEHICLE system dynamics 1994年第SUP1期23卷 274-296页

作者： KORTUM, W SCHIEHLEN, W HOFFMANN, M DLR-Institdte for Robotics and System Dynamics Wessling Germany Institute B for Mechanics University of Stuttgart Germany TEDAS Mechanical Systems Software GmbH Marburg Germany

ISBN: (纸本)9026513801

This paper represents one of the results of the second Herbertov Workshop in 1992 on ''Research Issues in Automotive Integrated Chassis Control systems''. It was decided to bring together engineers who are actively involved in current software developments to report on the progress in integrated system analysis and design software for controlled vehicles. Therefore, after mentioning some of the principal requirements for such software, the state-of-the-art is summarized. Promising recent research and software developments are described and the application of some of these concepts to an actively controlled vehicle with preview is discussed. Throughout the article the ideas of concurrent analysis and design strategies are emphasized.

关键词： Ground vehicles

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Space robotics

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IFAC Proceedings Volumes 1994年第14期27卷 695-714页

作者： G. Hirzinger German Aerospace Research Establishment (DLR) Institute for Robotics and System Dynamics Oberpfaffenhofen D-82234 Wessling Germany fax: +49 8153 28-1134

The paper tries to outline the state of the art in space robotics. It discusses the technologies used in ROTEX, the first remotely controlled space robot which flew with shuttle COLUMBIA in April 93, but it also gives a review of the major space robot projects envisioned by different nations for the next decade. The mecha-tronics and dynamics aspects of space robots including free-flying systems are briefly discussed. Broader attention is given to the telerobotic and teleoperational control loop structures, including predictive delay-compensating graphics simulation. The paper finally tries to emphasize that by task level programming (involving “learning by showing” on a high level) future space robots will be powerful tools for scientists and ground operators which are not robot specialists. The tele-sensor-programming concept of ROTEX was a first step in this direction. We plead for flying a variety of space robot systems in the near future in order to enhance experience with and confidence in these technologies as quickly as possible.

关键词： Space robotics telerobotics shared autonomy tele-sensor-programming remote control

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Feature-based visual servoing and its application to telerobotics

Feature-based visual servoing and its application to telerob...

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1994 IEEE/RSJ International Conference on Intelligent Robots and systems, IROS 1994

作者： Hager, Gregory D. Grunwald, Gerhard Hirzinger, Gerd Department of Computer Science Yale Station Yale University P.O. Box 208285 New HavenCT06520-8285 United States DLR German Aerospace Research Establishment Institute of Robotics and System Dynamics Miinchenerstr. 20 OberpfaffenhofenD-82234 Germany

ISBN: (纸本)0780319338

Recent advances in visual servoing theory and practice now make it possible to accurately and robustly position a robot manipulator relative to a target. Both the vision and control algorithms are extremely simple, however they must be initialized on task-relevant features in order to be applied. Consequently, they are particularly well-suited to telerobotics systems where an operator can initialize the system but round-trip delay prohibits direct operator feedback during motion. This paper describes the basic theory behind feature-based visual servoing, and discusses the issues involved in integrating visual servoing into the ROTEX space, teleoperation system. © 1994 institute of Electrical and Electronics Engineers Inc.. All rights reserved.

关键词： Visual servoing

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An ACSL-model translator to the neutral Fortran DSblock-model format

An ACSL-model translator to the neutral Fortran DSblock-mode...

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

作者： G. Grubel M. Otter F. Breitenecker A. Prinz G. Schuster I. Bausch-Gall H. Fischer Control Design Engineering Institute for Robotics and System Dynamics DLR-Oberpfaffenhofen Wessling Germany Simulation Engineering Group Institute for Technical Mathematics Vienna Technical University Vienna Austria Bausch-Gall GmbH Karlsruhe Germany

One problem in multidisciplinary simulation is to merge models which originate in different disciplinary environments into a common computer-executable model for computational experimenting. The paper reports on a possible solution thereof. This is based on a public-domain, application-neutral, formally defined Fortran or C format for dynamic input/output systems, called DSblock, to which "higher level" models can be translated. In particular, it is reported on A-CoSiLa, an ACSL model translator to the neutral DSblock format.< >

关键词： Object oriented modeling Computational modeling Computer simulation Runtime Design engineering Robots Electronic mail Mathematical model Physics computing Temperature control

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