Advanced Automation & ControlLab Presentation

Jacobs University Fall 2011

Razvan MihalyiBilly Okal

Remus Dumitru

Outline

Giovanni Indiveri Robot Control

Giovanni Indiveri Robot Path Following

KUKA KR6 Inverse Kinematics

Giovanni Control (0)Kinematic Model

Lyapunov-based closed loop control, i.e. two-formula control ;-)

[Giovanni Indiveri ‘99]

Giovanni Control (1)Task: Drive robot a specific Pose

Challenge: No sensors (only odometry)

Setup 1: Drive to Pose (2, 2, π/2)

Giovanni Control (2)Setup 2: Drive to Pose (2, -1, π)

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]

Giovanni Path Following (2)Scenario 2: Driving an ‘Eight’

Giovanni Path Following (3)Scenario 2: Driving a “Circle”, path consisting on curves and straight paths

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]

KUKA KR6 IK (2)

DH Parameters

[Alireza Khatamian Thesis]

KUKA KR6 IK (3)Vertical Motion

KUKA KR6 IK (4)Combined Vertical and Horizontal Motion

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