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IEEE International Conference on robotics and Automation (ICRA)

作者： Ch. Borst M. Fischer G. Hirzinger German Aerospace Center-DLR Institute of Robotics and Mechatronics Wessling Germany

For the evaluation of grasp quality, different measures have been proposed that are based on wrench spaces. Almost all of them have drawbacks that derive from the non-uniformity of the wrench space, composed of force and torque dimensions. Moreover, many of these approaches are computationally expensive. We address the problem of choosing a proper task wrench space to overcome the problems of the non-uniform wrench space and show how to integrate it in a well-known, high precision and extremely fast computable grasp quality measure.

关键词： Friction Ellipsoids Orbital robotics mechatronics Performance analysis Grippers Testing Torque measurement Volume measurement Geometry

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Soft robotics: what Cartesian stiffness can obtain with passively compliant, uncoupled joints?

Soft robotics: what Cartesian stiffness can obtain with pass...

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2004 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) (IEEE Cat. No.04CH37566)

作者： A. Albu-Schaffer M. Fischer G. Schreiber F. Schoeppe G. Hirzinger German Aerospace Center DLR Institute for Robotics and Mechatronics Wessling Germany

In the field of service robotics, whole arm contact with an unstructured environment or human beings becomes a major issue. Therefore soft robots, which mean robots with passively (or mechanically) compliant joints, become more and more important. In this work we analyze what Cartesian stiffness at the tool center point one can achieve with a passively compliant, redundant robot with variable joint stiffness. We restrict this work to the special case of uncoupled joint stiffness only, as coupling of joint stiffness seems to be mechanically difficult to realize. Finally we discuss a Cartesian controller, which incorporates the compliance of the joints and ensures the correct stiffness behavior also for high displacements from the desired position.

关键词： Robot sensing systems Robot kinematics Mechanical variables control Humans mechatronics Displacement control Force sensors Torque control Actuators Lightweight structures

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RobSin: a new tool for robust design of PID and three-term controllers based on singular frequencies

RobSin: a new tool for robust design of PID and three-term c...

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IEEE Conference on Control Technology and Applications (CCTA)

作者： N. Bajcinca T. Hulin DLR German AeroSpace Center Institute of Robotics and Mechatronics Oberpfaffenhofen Germany

This paper introduces a new Matlab Toolbox called RobSin, which for a given plant (multi-) model provides a fast computation of the stabilizing region in the coordinates of PID parameters. The algorithms use the concept of singular frequencies for computation of convex polygonal slices on planes kp = const. In addition to time-continuous systems, the method described in this paper is especially convenient for the design of time-discrete PID and three-term controllers and time-delay systems.

关键词： Three-term control Robust control Frequency Eigenvalues and eigenfunctions Algorithm design and analysis Robots mechatronics Stability Uncertainty Uncertain systems

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Online surface reconstruction from unorganized 3D-points for the DLR hand-guided scanner system

Online surface reconstruction from unorganized 3D-points for...

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International Symposium on 3D Data Processing Visualization and Transmission

作者： T. Bodenmueller G. Hirzinger German AeroSpace Center (DLR) Institute of Robotics and Mechatronics Wessling Germany

Hand-guided scanners allow for digitization by manually sweeping a laser beam over an object's surface. The result highly depends on the way the user handles the system and his ability to keep track of the parts of the surface that are already scanned. Processing and visualization during data acquisition are helpful in this context. In this paper, we propose an online surface reconstruction algorithm for the visualization of the DLR scanner system data. The algorithm successively generates a triangle mesh by incrementally inserting 3D points. Point neighborhoods are used to limit the point density, to estimate the surface normal at the inserted point, and to locally retriangulate the mesh. A dynamic data structure for fast neighborhood search without restrictions to the amount of vertices or the object size and with low complexity is introduced. Finally, results with the hand-guided scanner system are presented.

关键词： Surface reconstruction Data visualization Mesh generation Painting Displays Fusion power generation Robots mechatronics Laser beams Surface emitting lasers

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Design of fault detection filters for periodic systems

Design of fault detection filters for periodic systems

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IEEE Conference on Decision and Control

作者： A. Varga Institute of Robotics and Mechatronics DLR-Oberpfaffenhofen German Aerospace Center Wessling Germany

We propose a numerically reliable computational approach to design fault detection filters for periodic systems. This approach is based on a new numerically stable algorithm to compute least order annihilators without explicitly building time-invariant lifted system representations. The main computation in this algorithm is the orthogonal reduction of a periodic matrix pair to a periodic Kronecker-like form, from which the periodic realization of the detector is directly obtained.

关键词： Fault detection Filters Vectors Buildings Detectors Sparse matrices Standards development Linear systems Impedance Computational efficiency

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Analysis, conversion and visualization of discrete simulation results

Analysis, conversion and visualization of discrete simulatio...

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International Conference on Information Visualisation (IV)

作者： Yongmin Zhong B. Shirinzadeh Robotics & Mechatronics Research Laboratory Department of Mechanical Engineering Monash University Australia

This paper presents a methodology to create 3D visualization of discrete event simulation. This methodology connects discrete event simulation directly to 3D animation with its novel methods of analyzing and converting discrete simulation results into animation events to trigger 3D animation. Discrete simulation results are analyzed and displayed in a graph structure that reveals all possible sequences of simulation events. In addition, a 3D animation framework is constructed for the visualization of discrete simulation results. This framework supports the reuse of both the existing 3D animation objects and behavior components, and allows the rapid development of new 3D animation objects by users with no special knowledge in computer graphics. This methodology has been implemented with the software component technology. Results in an electronics assembly factory are also provided in the paper to demonstrate the feasibility of this approach.

关键词： Analytical models Animation Discrete event simulation Object oriented modeling Computational modeling Data visualization Costs Application software Robots mechatronics

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Design and realtime implementation of an adaptive variation absorber for uncertain mechanical systems subjected to unknown disturbances

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JVC/Journal of Vibration and Control 2004年第1期10卷 55-84页

作者： Derkhorenian, R. Jalili, N. Dawson, D.M. Department of Mechanical Engineering Robotics and Mechatronics Laboratory Clemson University Clemson SC 29634-0921 United States Dept. of Electrical and Comp. Eng. Robotics and Mechatronics Laboratory Clemson University Clemson SC 29634-0915 United States

In this paper we describe the design and implementation of a nonlinear adaptive disturbance rejection approach for single-input-single-output linear-time-invariant uncertain systems subject to sinusoidal disturbances with unknown amplitude and frequency. This is an extension of our earlier study to a more complicated plant, a two-degrees-of-freedom (2DOF) system representing a vibration absorber setting. The controller design is based on a single Lyapunov function incorporating both the error states and the update laws and, hence, global stability and improved transient performance are readily achieved. Utilizing only the system output, a virtual control input is used in place of non-measurable and unknown signals. The performance of the adaptation algorithm is demonstrated through real-time simulations, both for regulation and tracking, on a 2DOF system representing an active vibration absorber setup. It is shown that when the primary system is subjected to an unknown sinusoidal disturbance, the proposed controller in the absorber subsection completely suppresses the primary system vibration in the presence of unknown disturbance.

关键词： Vibration control

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Optimum dynamic balancing of planar parallel manipulators

Optimum dynamic balancing of planar parallel manipulators

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IEEE International Conference on robotics and Automation (ICRA)

作者： G. Alici B. Shirinzadeh School of Mechanical Materials and Mechatronics Engineering University of Wollongong NSW Australia Robotics & Mechatronics Research Laboratory Monash University VIC Australia

This paper presents a methodology for optimum dynamic balancing of planar parallel manipulators typified with a variable speed 2 DOF parallel manipulator articulated with revolute joints. The dynamic balancing is formulated as an optimisation problem such that a sum-squared values of bearing forces, driving torques, shaking moment, and the deviation of the angular momentum from its mean value are minimized throughout an operation range of the manipulator, provided that a set of balancing constraints consisting of the shaking force balancing conditions, the sizes of some inertial and geometric parameters are satisfied. Sets of optimisation results corresponding to various combinations of the elements of the objective function are evaluated in order to quantify their influence on the resulting bearing forces, the driving torques, shaking moment and force. The results prove that the proposed optimisation approach can be used to minimize any desired combination of the forces, moments, and torques involved in any parallel mechanism by choosing a suitable set of weighting factors. The method is systematic, versatile and easy to implement for the optimum balancing of the parallel manipulator and more general parallel manipulators.

关键词： Manipulator dynamics mechatronics Constraint optimization Design optimization Laboratories Mechanical engineering Kinematics Parallel robots

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A full order sliding mode tracking controller for direct drive robot manipulators

A full order sliding mode tracking controller for direct dri...

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Asian Control Conference

作者： M.N. Ahmad J.H.S. Osman Department of Robotics and Mechatronics Faculty of Electrical Engineering Universiti Teknologi Malaysia Skudai Malaysia

This paper presents the development of a full order sliding mode controller for tracking problem of direct drive robot manipulators. By treating the arm as an uncertain system represented by its nominal and bounded parametric uncertainties, a new robust full order sliding mode tracking controller is derived such that the actual trajectory tracks the desired trajectory as closely as possible despite the nonlinearities and input couplings present in the system. A proportional-integral sliding surface is chosen to ensure the stability of overall dynamics during the entire period i.e. the reaching phase and the sliding phase. Application to a three DOF direct drive robot manipulator is considered.

关键词： Sliding mode control Robots Manipulators Trajectory Uncertain systems Uncertainty Robust control Nonlinear control systems Control nonlinearities Control systems

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A Dynamics Simulation of a 3-DOF Parallel Manipulator

A Dynamics Simulation of a 3-DOF Parallel Manipulator

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第十一届IFTOMM世界大会

作者： Mario Acevedo Gabriel Aguirre Giuseppe Carbone Erika Ottaviano Multibody Systems and Mechatronics Laboratory Engineering School Universidad PanamericanaMexico City 03920Mexico Multibody Systems and Mechatronics Laboratory Engineering School Universidad PanamericanaMexico City 03920Mexico Laboratory of Robotics and Mechatronics DiMSAT University of Cassino Cassino 03043Italy Laboratory of Robotics and Mechatronics DiMSAT University of Cassino Cassino 03043Italy

＜正＞In this paper a new version of the Cassino parallel manipulator （CaPaMan 2） is presented. A model describing the multibody system through mixed coordinates has been created, and a simulation program has been developed to perform both kinematic and dynamic analysis of the manipulator. This program uses an entirely symbolic formulation of the equations of motion for the mechanism.

关键词： Multibody systems Parallel manipulators Numerical simulation

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