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Towards the deployment of industrial robots as measurement instruments - An extended forward kinematic model incorporating geometric and nongeometric effects

Towards the deployment of industrial robots as measurement i...

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IEEE/ASME (AIM) International Conference on Advanced Intelligent Mechatronics

作者： Katayon Radkhah Thomas Hemker Martin Friedmann Oskar von Stryk Simulation Systems Optimization and Robotics Group Technische Universität Darmstadt Darmstadt Germany

In the area of mounting and spot-welding of body-in-white, absolutely accurate robots are installed as measuring instruments, replacing expensive coordinate and other external measuring machines. Measurement technologies based on industrial robots play an increasingly important role. Such applications require highly accurate robots. Prior to deployment of highly accurate robot, however, it needs to be ensured that the implemented robot model fits the real model. Robot calibration can offer a significant opportunity to improve the positioning accuracy and to cut production costs. Existing calibration approaches fail to capture geometric and elastic effects occurring in the robot forward kinematics. Therefore, in this work an extended forward kinematic model incorporating both geometric and elastic effects has been developed in which the positioning accuracy of a manipulator, with or without an accurate internal robot model in the robot controller, is improved.

关键词： Service robots Instruments Robot kinematics Area measurement Coordinate measuring machines Calibration Machinery production industries Costs Manipulators Solid modeling

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Towards bipedal jogging as a natural result of optimizing walking speed for passively compliant three-segmented legs

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International Journal of robotics Research 2009年第2期28卷 257-265页

作者： Seyfarth, A. Iida, F. Tausch, R. Stelzer, M. Von Stryk, O. Karguth, A. University of Jena Locomotion Lab Dornburger Strasse 23 D-07743 Jena Germany Technische Universität Darmstadt Simulation Systems Optimization and Robotics Group Hochschulstrasse 10 D-64289 Darmstadt Germany TETRA - Gesellschaft für Sensorik Robotik und Automation MbH Gewerbepark Am Wald 4 D-98693 Ilmenau Germany

Elasticity in conventionally built walking robots is an undesired side-effect that is suppressed as much as possible because it makes control very hard and thus complex control algorithms must be used. The human motion apparatus, in contrast, shows a very high degree of flexibility with sufficient stability. In this research we investigate how compliance and damping can deliberately be used in humanoid robots to improve walking capabilities. A modular robot system consisting of rigid segments, joint modules and adjustable compliant cables spanning one or two joints is used to configure a human-like biped. In parallel, a simulation model of the robot was developed and analyzed. Walking motion is gained by oscillatory out-of-phase excitations of the hip joints. An optimization of the walking speed has been performed by improving the viscoelastic properties of the leg and identifying the appropriate hip control parameters. A good match was found between real robot experiments and numerical simulations. At higher speeds, transitions from walking to running are found in both the simulation as well as in the robot. © SAGE Publications 2009 Los Angeles, London.

关键词： Anthropomorphic robots

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A novel self-calibration method for industrial robots incorporating geometric and nongeometric effects

A novel self-calibration method for industrial robots incorp...

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2008 IEEE International Conference on Mechatronics and Automation, ICMA 2008

作者： Radkhah, Katayon Hemker, Thomas Stryk, Oskar Von Simulation Systems Optimization and Robotics Group Technische Universität Darmstadt Darmstadt Germany

ISBN: (纸本)9781424426324

We propose a novel problem formulation for the solution of the nonlinear least squares appearing in the static calibration of the parameters of an industrial robot with rotational joints. A further contribution of the presented work is the use of an extended forward kinematic model incorporating both geometric and nongeometric parameters. These novelties facilitate the use of industrial robots as measurement systems. Both the automobile and the general industry are interested in the use of highly accurate robots that can be deployed as measurement instruments, e.g. for noticing incorrectly welded points early in the production process. Instead of absolute measurement data, we make use of relative measurement data by means of a camera attached to the robot flange. In tests based on data generated from simulation of a real experimental setup, we obtain after calibration absolute accuracies better than ± 100 μm. This work lays the foundations for a cost-minimal and effective realization of a robot as a measurement instrument. © 2008 IEEE.

关键词： Industrial robots

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A novel self-calibration method for industrial robots incorporating geometric and nongeometric effects

A novel self-calibration method for industrial robots incorp...

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IEEE International Conference on Mechatronics and Automation

作者： Katayon Radkhah Thomas Hemker Oskar von Stryk Simulation Systems Optimization and Robotics Group Technische Universität Darmstadt Darmstadt Germany

We propose a novel problem formulation for the solution of the nonlinear least squares appearing in the static calibration of the parameters of an industrial robot with rotational joints. A further contribution of the presented work is the use of an extended forward kinematic model incorporating both geometric and nongeometric parameters. These novelties facilitate the use of industrial robots as measurement systems. Both the automobile and the general industry are interested in the use of highly accurate robots that can be deployed as measurement instruments, e.g. for noticing incorrectly welded points early in the production process. Instead of absolute measurement data, we make use of relative measurement data by means of a camera attached to the robot flange. In tests based on data generated from simulation of a real experimental setup, we obtain after calibration absolute accuracies better than plusmn 100 mu m. This work lays the foundations for a cost-minimal and effective realization of a robot as a measurement instrument.

关键词： Service robots Calibration Instruments Least squares methods Kinematics Automobiles Welding Production Robot vision systems Cameras

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A mixed-integer simulation-based optimization approach with surrogate functions in water resources management

A mixed-integer simulation-based optimization approach with ...

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作者： Hemker, Thomas Fowler, Kathleen R. Farthing, Matthew W. von Stryk, Oskar Department of Computer Science Simulation Systems Optimization and Robotics Group Technische Universität Darmstadt Hochschulstraße 10 64289 Darmstadt Germany Clarkson Center for the Environment Department of Mathematics Clarkson University Potsdam NY 13676-5815 United States Center for the Integrated Study of the Environment Department of Environmental Sciences and Engineering University of North Carolina at Chapel Hill Chapel Hill NC 27599-7431 United States

Efficient and powerful methods are needed to overcome the inherent difficulties in the numerical solution of many simulation-based engineering design problems. Typically, expensive simulation codes are included as black-box function generators;therefore, gradient information that is required by mathematical optimization methods is entirely unavailable. Furthermore, the simulation code may contain iterative or heuristic methods, low-order approximations of tabular data, or other numerical methods which contribute noise to the objective function. This further rules out the application of Newton-type or other gradient-based methods that use traditional finite difference approximations. In addition, if the optimization formulation includes integer variables the complexity grows even further. In this paper we consider three different modeling approaches for a mixed-integer nonlinear optimization problem taken from a set of water resources benchmarking problems. Within this context, we compare the performance of a genetic algorithm, the implicit filtering algorithm, and a branch-and-bound approach that uses sequential surrogate functions. We show that the surrogate approach can greatly improve computational efficiency while locating a comparable, sometimes better, design point than the other approaches. © Springer Science+Business Media, LLC 2008.

关键词： Iterative methods

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Optimal Control of Multi-Vehicle-systems Under Communication Constraints Using Mixed-Integer Linear Programming 1

Optimal Control of Multi-Vehicle-Systems Under Communication...

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1st International Conference on Robot Communication and Coordination, RoboComm 2007

作者： Reinl, Christian von Stryk, Oskar Simulation Systems Optimization and Robotics Group Technische Universität Darmstadt Germany

ISBN: (纸本)9789639799080

A new planning method for optimal cooperative control of heterogeneous multi-vehicle systems is investigated which enables to account for each vehicle’s nonlinear physical motion dynamics in a structured environment as well as for connectivity constraints of wireless communication. A general formulation as nonlinear hybrid optimal control problem (HOCP) is presented. A transformation technique is proposed to reduce the large computational efforts for solving HOCPs towards a future online application of this approach. Hereby the general problem is transcribed to a linearized mixed-integer linear programming problem (MILP) which can be solved much more efficiently. The proposed approach is successfully applied to the numerical solution of a representative, cooperative monitoring problem involving heterogeneous vehicles and conditions. Copyright © 2011-2012 ICST

关键词： Vehicles

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A new, open and modular platform for research in autonomous four-legged robots

A new, open and modular platform for research in autonomous ...

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20. Fachgesprach Autonome Mobile Systeme, AMS 2007 - 20th Expert Discussion on Autonomous Mobile systems, AMS 2007

作者： Friedmann, Martin Petters, Sebastian Risler, Max Sakamoto, Hajime Von Stryk, Oskar Thomas, Dirk Simulation Systems Optimization and Robotics Group Technische Universität Darmstadt Hochschulstr. 10 D-64289 Darmstadt Germany Hajime Research Institue Ltd. Osaka Japan

ISBN: (纸本)9783540747635

In this paper the design goals for a new, open and modular, four-legged robot platform are described that was developed in reaction to the open call for a standard platform issued by the RoboCup Federation in 2006. The new robot should have similar motion and sensing capabilities like the previously used Sony AIBO plus several new ones. The hardware and software should be open, modular and reconfigurable. The robot should be resonably priced and allow annually upgrades.

关键词： Robots

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Cooperation of heterogeneous, autonomous robots: A case study of humanoid and wheeled robots

Cooperation of heterogeneous, autonomous robots: A case stud...

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2007 IEEE/RSJ International Conference on Intelligent Robots and systems

作者： Jutta Kiener Oskar von Stryk Simulation Systems Optimization and Robotics Group Technische Universität Darmstadt Darmstadt Germany

In this paper we present a case study of cooperation of a strongly heterogeneous robot team, composed of a highly articulated humanoid robot and a wheeled robot with largely complementing and some competing capabilities. By combining two strongly heterogeneous robots the diversity of accomplishable tasks increases as the variety of sensors and actuators in the robot systems is extended compared with a team consisting of homogeneous robots. The scenario describes a tightly cooperative task, where the humanoid robot and the wheeled robot follow for a long distance a ball, which is kicked finally by the humanoid robot into a goal. The task can be fulfilled successfully by combining the abilities of both robots. For task distribution and allocation, a newly developed objective function is presented which is based on a proper modeling of the sensing, perception, motion and onboard computing capabilities of the cooperating robots. Aspects of reliability and fault tolerance are considered.

关键词： Mobile robots Humanoid robots Robot sensing systems Intelligent robots Service robots Diversity reception Actuators Hardware Sensor systems Surveillance

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Control approach for a novel high power-to-weight robotic actuator scalable in force and length

Control approach for a novel high power-to-weight robotic ac...

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IEEE/ASME (AIM) International Conference on Advanced Intelligent Mechatronics

作者： Robert Kratz Maximilian Stelzer Martin Friedmann Oskar von Stryk Simulation Systems Optimization and Robotics Group Department of Computer Science Technische Universität Darmstadt Darmstadt Germany

The development of a control approach for a novel, soundless, lightweight and multifunctional shape memory alloy (SMA) actuator scalable in force and length for personal assistance or home-help robots is presented in this paper. The SMA actuator is based on lightweight bundles of thin wires of prestrained shape memory alloy that change their length when heated above their transformation temperature. The design approach of the actuator allows arranging the point of actuation in any direction and ensures a short cool down time to guarantee a frequency of contraction/stress cycles that is high enough to allow fast joint motions. This is needed for the generation of fast joint motions. For the use of the actuator the novel control approach has been experimentally validated. The approach uses the resistance of the actuator as a linear position encoder and there are no additional external sensors needed. The application of the new actuator to a novel lightweight humanoid robot is outlined. One advantage of the actuator over electric motors lies in the large variety of user-defined points of actuation of the in pull-force and length free scalable actuators and the high power-to-weight ratio. The results demonstrate that it is possible to build a large humanoid robot actuated with SMA actuator in a new way.

关键词： Force control Actuators Shape memory alloys Humanoid robots Shape control Lighting control Wires Temperature Frequency Stress

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Scientific and Technological Challenges in RoboCup

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Control, robotics, and Autonomous systems 1000年第1期3卷 441-471页

作者： Minoru Asada Oskar von Stryk 1Symbiotic Intelligent Systems Research Center Institute for Open and Transdisciplinary Research Initiatives Osaka University Suita Osaka 565-0871 Japan email: asada@otri.osaka-u.ac.jp 2Simulation Systems Optimization and Robotics Group Department of Computer Science Technische Universität Darmstadt D-64289 Darmstadt Germany

Since its inception in 1997, RoboCup has developed into a truly unique and long-standing research community advancing robotics and artificial intelligence through various challenges, benchmarks, and test fields. The main purposes of this article are to evaluate the research and development achievements so far and to identify new challenges and related new research issues. Unlike other robot competitions and research conferences, RoboCup eliminates the boundaries between pure research activities and the development of full system designs with hardware and software implementations at a site open to the public. It also creates specific scientific and technological research and development challenges to be addressed. In this article, we provide an overview of RoboCup, including its league structure and related research issues. We also review recent studies across several research categories to show how participants (called RoboCuppers) address the research and development challenges before, during, and after the annual competitions. Among the diversity of research issues, we highlight two unique aspects of the challenges: the platform design of the robots and the game evaluations. Both of these aspects contribute to solving the research and development challenges of RoboCup and verifying the results from a common perspective (i.e., a more objective view). Finally, we provide concluding remarks and discuss future research directions.

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