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机器人系统在线轨迹生成.pdf

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    Title Page
    Foreword
    Preface
    Abstract
    Contents
    Introduction
    Robot Motion Control
    Path Planning and Trajectory-Following Operations
    Sensor-Guided Robot Motion Control
    Verbal Problem Formulation and Motivation for This Book
    Definition: Sensor-Guarded Robot Motion Control
    Excursion: The Neurophysiological System of Human Beings
    Outline of This Book
    Literature Survey: Trajectory Generation in and Control of Robotic Systems
    Terminology
    Overview
    State of the Art in Robot Technology
    State of the Art in Robotics Research
    Path Planning
    Trajectory Planning Concepts
    Robot Motion Control
    Human-Inspired Motion Analysis
    Own Works
    Conclusions and Classification of This Work
    Mathematical Conventions and Problem Formulation
    Notation and Nomenclature
    Classification of On-Line Trajectory Generators
    Type Classification
    Variant Classification
    Formal Problem Formulation
    Summary
    Solution for One Degree of Freedom
    Generic Algorithm for On-Line Trajectory Generation
    Problem Formulation for One-DOF Systems
    Generic Solution
    Solution for Type IV
    Type IV, Variant A
    Type IV, Variant B
    Summary and Applications
    Solution in Multi-dimensional Space
    General Variant A Algorithm for On-Line Trajectory Generation
    Step 1: Calculating the Synchronization Time tisync
    Step 2: Synchronization
    Step 3: Calculation of Output Values
    Final Remarks on the General OTG Algorithm
    Extension for Variant B
    Type IV On-Line Trajectory Generation
    Type IV, Variant A
    Type IV, Variant B
    Summary and Final Remarks
    On-Line Generation of Homothetic Trajectories
    Problem Formulation
    The Algorithm
    Hybrid Switched-System Control for Robotic Systems
    Hybrid Switched-System Control
    The Manipulation Primitive Framework
    Manipulation Primitives as Interface to Hybrid Switched-Systems
    Control Scheme for the Execution of Manipulation Primitives
    Remarks on the Availability Flag Vector ic
    Remarks on Task Frame Switchings
    Remarks on the OTG Module
    On-Line Trajectory Generation for Open-Loop Velocity Control
    Stability
    Summary
    Experimental Results and Applications
    Handling Arbitrary States of Motion
    Instantaneous Reaction to Unforeseen (Sensor) Events
    Homothetic Trajectories
    Unforeseen Switchings of Reference Coordinate Systems
    Unforeseen Switchings of State Spaces
    Hybrid Switched-System Control of a Six-DOF Industrial Manipulator
    Further Discussion
    On-Line Trajectory Generation as an Interface to Non-Real-Time Systems
    Visual Servo Control
    Relation to High-Level Motion Planning Systems
    The Problem of Overshooting
    Embedding of Robot Dynamics
    Further Applications
    Migration of Existing Architectures
    Real-Time Verification
    Higher Control Rates
    Aspects on the Development of Decision Trees
    Completeness Analysis of Decision Trees
    OTG Types V–IX
    Further Variants
    On the Elegance of Natural Laws
    Summary, Future Work, and Conclusion
    Summary
    Limitations and Future Work
    Conclusion
    Appendix
    The Modified Anderson-Bj\"orck-King Method
    Details on the {\it PosTriNegTri} Acceleration Profile (Step 1)
    Details on the {\it PosTriZeroNegTri} Acceleration Profile (Step 2)
    Type IV On-Line Trajectory Generation in Very Simple Terms
    Abbreviations and Symbols
    References
    Springer Tracts in Advanced Robotics Volume 58 Editors: Bruno Siciliano · Oussama Khatib · Frans Groen
    Torsten Kröger On-Line Trajectory Generation in Robotic Systems Basic Concepts for Instantaneous Reactions to Unforeseen (Sensor) Events ABC
    Professor Bruno Siciliano, Dipartimento di Informatica e Sistemistica, Università di Napoli Federico II, Via Claudio 21, 80125 Napoli, Italy, E-mail: siciliano@unina.it Professor Oussama Khatib, Artificial Intelligence Laboratory, Department of Computer Science, Stanford University, Stanford, CA 94305-9010, USA, E-mail: khatib@cs.stanford.edu Professor Frans Groen, Department of Computer Science, Universiteit van Amsterdam, Kruislaan 403, 1098 SJ Amsterdam, The Netherlands, E-mail: groen@science.uva.nl Author Torsten Kröger Technische Universität Carolo-Wilhelmina zu Braunschweig Institut für Robotik und Prozessinformatik Mühlenpfordtstraße 23 D-38106 Braunschweig Germany E-mail: t.kroeger@tu-bs.de ISBN 978-3-642-05174-6 e-ISBN 978-3-642-05175-3 DOI 10.1007/978-3-642-05175-3 Springer Tracts in Advanced Robotics ISSN 1610-7438 Library of Congress Control Number: 2009941046 c 2010 Springer-Verlag Berlin Heidelberg This work is subject to copyright. All rights are reserved, whether the whole or part of the material is concerned, specifically the rights of translation, reprinting, reuse of illustrations, recitation, broadcasting, reproduction on microfilm or in any other way, and storage in data banks. Duplication of this publication or parts thereof is permitted only under the provisions of the German Copyright Law of September 9, 1965, in its current version, and permission for use must always be obtained from Springer. Violations are liable for prosecution under the German Copyright Law. The use of general descriptive names, registered names, trademarks, etc. in this publication does not imply, even in the absence of a specific statement, that such names are exempt from the relevant protective laws and regulations and therefore free for general use. Typeset & Cover Design: Scientific Publishing Services Pvt. Ltd., Chennai, India. Printed in acid-free paper 5 4 3 2 1 0 springer.com
    Editorial Advisory Board Oliver Brock, TU Berlin, Germany Herman Bruyninckx, KU Leuven, Belgium Raja Chatila, LAAS, France Henrik Christensen, Georgia Tech, USA Peter Corke, CSIRO, Australia Paolo Dario, Scuola S. Anna Pisa, Italy Rüdiger Dillmann, Univ. Karlsruhe, Germany Ken Goldberg, UC Berkeley, USA John Hollerbach, Univ. Utah, USA Makoto Kaneko, Osaka Univ., Japan Lydia Kavraki, Rice Univ., USA Vijay Kumar, Univ. Pennsylvania, USA Sukhan Lee, Sungkyunkwan Univ., Korea Frank Park, Seoul National Univ., Korea Tim Salcudean, Univ. British Columbia, Canada Roland Siegwart, ETH Zurich, Switzerland Guarav Sukhatme, Univ. Southern California, USA Sebastian Thrun, Stanford Univ., USA Yangsheng Xu, Chinese Univ. Hong Kong, PRC Shin’ichi Yuta, Tsukuba Univ., Japan STAR (Springer Tracts in Advanced Robotics) has been promoted un- der the auspices of EURON (European Robotics Research Network) European Research Network ROBOTICS ** * * * * * * * * * * N O R U E
    There is always an easy solution to every human problem — neat, plausible, and wrong. Henry Louis Mencken (1880–1956)
    Foreword By the dawn of the new millennium, robotics has undergone a major trans- formation in scope and dimensions. This expansion has been brought about by the maturity of the field and the advances in its related technologies. From a largely dominant industrial focus, robotics has been rapidly expanding into the challenges of the human world. The new generation of robots is expected to safely and dependably co-habitat with humans in homes, workplaces, and communities, providing support in services, entertainment, education, health- care, manufacturing, and assistance. Beyond its impact on physical robots, the body of knowledge robotics has produced is revealing a much wider range of applications reaching across di- verse research areas and scientific disciplines, such as: biomechanics, haptics, neurosciences, virtual simulation, animation, surgery, and sensor networks among others. In return, the challenges of the new emerging areas are prov- ing an abundant source of stimulation and insights for the field of robotics. It is indeed at the intersection of disciplines that the most striking advances happen. The goal of the series of Springer Tracts in Advanced Robotics (STAR) is to bring, in a timely fashion, the latest advances and developments in robotics on the basis of their significance and quality. It is our hope that the wider dissemination of research developments will stimulate more exchanges and collaborations among the research community and contribute to further advancement of this rapidly growing field. The monograph written by Torsten Kr¨oger is the outcome of six years of work by the author during his doctoral thesis. The book focuses on sensor integration in robotic manipulation control systems, and in particular on the instantaneous planning of motion trajectories in reaction to unforeseen sensor events, such as failures or more simply a change of reference frame or control space. The supporting theoretical tool is hybrid switched-system control en- abling to switch from sensor-guided motion, e.g., under force/torque or visual servo control, to sensor-guarded motion and vice versa. The resulting on- line trajectory generation algorithm serves as an intermediate layer between
    X Foreword low-level motion control and high-level sensor-based motion planning. Numerous examples illustrate the proposed concepts in practice. This volume is a very fine addition to our STAR series! Naples, Italy September 2009 Bruno Siciliano STAR Editor
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