automation and control
DESCRIPTION
Robot Control and Path PlanningTRANSCRIPT
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Advanced Automation & ControlLab Presentation
Jacobs University Fall 2011
Razvan MihalyiBilly Okal
Remus Dumitru
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Outline
Giovanni Indiveri Robot Control
Giovanni Indiveri Robot Path Following
KUKA KR6 Inverse Kinematics
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Giovanni Control (0)Kinematic Model
Lyapunov-based closed loop control, i.e. two-formula control ;-)
[Giovanni Indiveri ‘99]
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Giovanni Control (1)Task: Drive robot a specific Pose
Challenge: No sensors (only odometry)
Setup 1: Drive to Pose (2, 2, π/2)
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Giovanni Control (2)Setup 2: Drive to Pose (2, -1, π)
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Giovanni Path Following (1)Task: Drive the robot along a specified path
Challenge: No sensors (odometry only)
Setup scenario 1: Driving an ‘Eight’ - slipping
[Giovanni and Maria ’04]
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Giovanni Path Following (2)Scenario 2: Driving an ‘Eight’
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Giovanni Path Following (3)Scenario 2: Driving a “Circle”, path consisting on curves and straight paths
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KUKA KR6 IK (1)
Task: Compute the Inverse Kinematics of KUKA KR6 Industrial robot
Move the robot end effector along one given direction only at a time.
Setup: USARSIM simulator, ROS framework for controlling the robot
[Alireza Khatamian Bachelor Thesis]
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KUKA KR6 IK (2)
DH Parameters
[Alireza Khatamian Thesis]
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KUKA KR6 IK (3)Vertical Motion
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KUKA KR6 IK (4)Combined Vertical and Horizontal Motion
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References
Giovanni Indiveri, Maria Letizia Corradini; Switching Linear Path Following For Bounded Curvature Car-Like Vehicles
Giovanni Indiveri; Kinematic Time-invariant Control of a 2D Nonholonomic Vehicle
Alireza Khatamian; Bachelor Thesis
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