Fast perception-action loops with proximity sensors for robotic manipulators:
Saved in:
| Main Author: | |
|---|---|
| Format: | Thesis Book |
| Language: | English |
| Published: |
Düren
Shaker
2022
|
| Edition: | 1. Auflage |
| Series: | Progress in Robotics/Fortschritte der Robotik
3 |
| Subjects: | |
| Online Access: | Inhaltsverzeichnis |
| Physical Description: | x, 199 Seiten Illustrationen, Diagramme 21 cm x 14.8 cm, 314 g |
| ISBN: | 9783844087628 3844087621 |
Staff View
MARC
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| 100 | 1 | |a Ding, Yitao |e Verfasser |0 (DE-588)1268376841 |4 aut | |
| 245 | 1 | 0 | |a Fast perception-action loops with proximity sensors for robotic manipulators |c Yitao Ding |
| 250 | |a 1. Auflage | ||
| 264 | 1 | |a Düren |b Shaker |c 2022 | |
| 300 | |a x, 199 Seiten |b Illustrationen, Diagramme |c 21 cm x 14.8 cm, 314 g | ||
| 336 | |b txt |2 rdacontent | ||
| 337 | |b n |2 rdamedia | ||
| 338 | |b nc |2 rdacarrier | ||
| 490 | 1 | |a Progress in Robotics/Fortschritte der Robotik |v 3 | |
| 502 | |b Dissertation |c Technische Universität Chemnitz |d 2022 | ||
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| 650 | 0 | 7 | |a Näherungssensor |0 (DE-588)4565478-5 |2 gnd |9 rswk-swf |
| 653 | |a Obstacle Avoidance | ||
| 653 | |a Reactive Motions | ||
| 653 | |a Impact Attenuation | ||
| 653 | |a Proximity Servoing | ||
| 653 | |a Proximity Perception | ||
| 653 | |a Capacitive Proximity Sensors | ||
| 653 | |a Collision Avoidance | ||
| 655 | 7 | |0 (DE-588)4113937-9 |a Hochschulschrift |2 gnd-content | |
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Record in the Search Index
| _version_ | 1804184429056229376 |
|---|---|
| adam_text | C
ONTENTS
ABSTRACT
III
I
INTRODUCTION
1
1
BACKGROUND
AND
MOTIVATION
3
1.1
BACKGROUND
..................................................................................................
3
1.2
BRIDGING
THE
PERCEPTION
GAP
......................................................................
5
1.3
ON-ROBOT
PROXIMITY
PERCEPTION
................................................................
8
1.4
OVERVIEW
OF
ON-ROBOT
PROXIMITY
PERCEPTION
APPLICATIONS
......................
10
1.5
CLOSING
THE
SERVOING
LOOP
WITH
REACTIVE
MOTIONS
AND
ACTIONS
.................
11
1.6
MAIN
CONTRIBUTIONS
AND
AIM
OF
THE
THESIS
.................................................
13
2
BASIC
KNOWLEDGE
AND
RELATED
RESEARCH
17
2.1
ON-ROBOT
PROXIMITY
PERCEPTION:
ARTIFICIAL
SKINS
.....................................
17
2.1.1
SENSING
MODALITIES
.........................................................................
18
2.1.2
CAPACITIVE
PROXIMITY
SENSING
.......................................................
22
2.1.2.1
CAPACITANCE
MEASUREMENT
.............................................
22
2.1.2.2
CAPACITIVE
PROXIMITY
SENSING
TOPOLOGIES
.....................
24
2.1.2.3
INFERRING
PROXIMITY
FROM
CAPACITANCE
...........................
25
2.1.3
OVERVIEW
OF
ON-ROBOT
PROXIMITY
SENSING
SYSTEMS
.....................
27
2.2
REACTIVE
MOTIONS
........................................................................................
34
2.2.1
INVERSE
DIFFERENTIAL
KINEMATICS
....................................................
34
2.2.2
TASK
PRIORITIES
...............................................................................
38
2.2.3
SOLVING
IDK
WITH
CONSTRAINED OPTIMIZATION
................................
39
2.2.4
OVERVIEW
ON
REACTIVE
MOTION
GENERATION
WITH
ON-ROBOT
PROX
IMITY
PERCEPTION
..............................................................
42
2.3
IMPACT
ATTENUATION
.....................................................................................
45
2.3.1
IMPEDANCE
CONTROLLERS
...................................................................
46
VII
VIII
CONTENTS
2.3.2
OVERVIEW
OF
NON-MECHANICAL
IMPACT
ATTENUATION
METHODS
.
...
48
II
PROXIMITY
PERCEPTION
51
3
ARCHITECTURE
OF
THE
ON-ROBOT
PROXIMITY
PERCEPTION
SYSTEM
53
3.1
CONCEPT
.......................................................................................................
53
3.1.1
DUAL
MODALITY
PROXIMITY
SENSING
MODULE
.....................................
54
3.2
MECHANICAL
DESIGN
......................................................................................
56
3.3
COMMUNICATION
............................................................................................
57
3.3.1
INTER-SENSOR
COMMUNICATION
..........................................................
60
3.4
PROXIMITY
DATA
PROCESSING
AND
SELF-MEASUREMENT
REMOVAL
......................
64
3.4.1
POINT
CLOUD
GENERATION
AND
CLASSIFICATION
.....................................
65
3.4.2
POINT
CLOUD
BUFFER
.........................................................................
70
4
CAPACITIVE
PROXIMITY
SENSING
73
4.1
DESIGN
CONSIDERATIONS
................................................................................
73
4.1.1
MAIN
OBJECTIVES
............................................................................
73
4.1.2
SENSITIVITY
AND
RANGE
...................................................................
75
4.1.3
DETECTION
ROBUSTNESS
AND
EMI
SUPPRESSION
.................................
78
4.1.4
NOISE
SUPPRESSION
AND
FINAL
SENSING
CIRCUIT
DESIGN
..................
79
4.1.5
SIGNAL
PROCESSING
............................................................................
81
4.2
EVALUATION
......................................................................................................
84
4.2.1
DETECTION
OF
DIFFERENTLY GROUNDED
OBJECTS
..................................
84
4.2.2
DETECTION
VOLUME
............................................................................
85
4.2.3
RANGE
UNCERTAINTY
.........................................................................
88
4.3
CONCLUSION
.................................................................................................
88
III
PROXIMITY
SERVOED
REACTIVE
MOTIONS
FOR
COLLISION
AVOIDANCE
91
5
REAL-TIME
CONTROL
SYSTEM
95
5.
1
SYSTEM
OVERVIEW
.........................................................................................
95
5.2
REAL-TIME
ROBOT
CONTROL
INTERFACE
..............................................................
96
6
SAMPLING-BASED
METHODS
FOR
DYNAMIC
COLLISION
AVOIDANCE
101
6.1
CONCEPT
............................................................................................................
101
6.2
TASK-PRIORITY
DEFINITION
IN
TASK
SPACE
...........................................................
103
6.3
AVOIDANCE
VECTOR
SAMPLING
.............................................................................
105
CONTENTS
IX
6.4
REPULSIVE
MOTION
INTEGRATION
.........................................................................
106
6.5
QUALITY
SCORES
..................................................................................................
107
6.6
EVALUATION
AND
DISCUSSION
.............................................................................
110
7
CONSTRAINED
QUADRATIC
OPTIMIZATION
FOR
DYNAMIC
OBSTACLE
AVOIDANCE
119
7.1
CONCEPT
...........................................................................................................
119
7.2
QUADRATIC
PROGRAM
AND
CONSTRAINT
DEFINITION
...............................................
119
7.2.1
OBJECTIVE
FUNCTION
.............................................................................
120
7.2.2
JOINT
CONSTRAINTS
................................................................................
121
7.2.3
COLLISION
AVOIDANCE
CONSTRAINTS
........................................................
125
7.2.4
COLLISION
AVOIDANCE
CONSTRAINT
PARAMETER
CONFIGURATION
.............
126
7.2.5
CONSTRAINT
SATISFACTION
THROUGH
PRIORITY
DEFINITION
.........................
127
7.3
EVALUATION
AND
CONCLUSION
.............................................................................
128
IV
PROXIMITY
SERVOED
REACTIVE
ACTIONS
FOR
IMPACT ATTENUATION
135
8
VARIABLE
IMPEDANCE
CONTROL
FOR
IMPACT
ATTENUATION
139
8.1
CONCEPT
..........................................................................................................
141
8.2
STIFFNESS
CONTROL
..........................................................................................
142
8.3
STABILITY
..........................................................................................................
144
8.4
ENERGY-TANK-BASED
STIFFNESS
CONTROL
..........................................................
146
8.5
EVALUATION
AND
CONCLUSION
...........................................................................
148
9
IMPROVING
THE
ATTENUATION
EFFECTIVENESS
OF
IMPEDANCE
CONTROLLERS
BY
JOINT
RECONFIGURATION
153
9.1
CONCEPT
..........................................................................................................
154
9.2
JOINT
RECONFIGURATION
....................................................................................
156
9.2.1
MANIPULABILITY
APPROACH
....................................................................
156
9.2.2
INERTIA
MATRIX
APPROACH
....................................................................
157
9.2.3
QUADRATIC
PROGRAM
INTEGRATION
...........................................................
158
9.2.4
COLLISION
ON
ANY
LINK
..........................................................................
159
9.3
EVALUATION
AND
CONCLUSION
...........................................................................
160
X
CONTENTS
V
SUMMARY
AND
OUTLOOK
165
10
SUMMARY
AND
OUTLOOK
167
10.1
SUMMARY
OF
THE
RESULTS
..................................................................................
167
10.1.1
PERCEPTION
.......................................................................................
167
10.1.2
OBSTACLE
AND
COLLISION
AVOIDANCE
...................................................
168
10.1.3
IMPACT
ATTENUATION
...........................................................................
169
10.2
OUTLOOK
......................................................................................................
170
10.2.1
OUTLOOK
FOR
THE
EXISTING
SYSTEM
......................................................
170
10.2.2
OUTLOOK
FOR
POTENTIAL
APPLICATIONS
...................................................
172
BIBLIOGRAPHY
175
APPENDIX
187
A
INVERSE
MATRIX
NOTATION
...............................................................................
187
B
SENSOR
SCHEMATICS
........................................................................................
190
LIST
OF
FIGURES
193
|
| adam_txt |
C
ONTENTS
ABSTRACT
III
I
INTRODUCTION
1
1
BACKGROUND
AND
MOTIVATION
3
1.1
BACKGROUND
.
3
1.2
BRIDGING
THE
PERCEPTION
GAP
.
5
1.3
ON-ROBOT
PROXIMITY
PERCEPTION
.
8
1.4
OVERVIEW
OF
ON-ROBOT
PROXIMITY
PERCEPTION
APPLICATIONS
.
10
1.5
CLOSING
THE
SERVOING
LOOP
WITH
REACTIVE
MOTIONS
AND
ACTIONS
.
11
1.6
MAIN
CONTRIBUTIONS
AND
AIM
OF
THE
THESIS
.
13
2
BASIC
KNOWLEDGE
AND
RELATED
RESEARCH
17
2.1
ON-ROBOT
PROXIMITY
PERCEPTION:
ARTIFICIAL
SKINS
.
17
2.1.1
SENSING
MODALITIES
.
18
2.1.2
CAPACITIVE
PROXIMITY
SENSING
.
22
2.1.2.1
CAPACITANCE
MEASUREMENT
.
22
2.1.2.2
CAPACITIVE
PROXIMITY
SENSING
TOPOLOGIES
.
24
2.1.2.3
INFERRING
PROXIMITY
FROM
CAPACITANCE
.
25
2.1.3
OVERVIEW
OF
ON-ROBOT
PROXIMITY
SENSING
SYSTEMS
.
27
2.2
REACTIVE
MOTIONS
.
34
2.2.1
INVERSE
DIFFERENTIAL
KINEMATICS
.
34
2.2.2
TASK
PRIORITIES
.
38
2.2.3
SOLVING
IDK
WITH
CONSTRAINED OPTIMIZATION
.
39
2.2.4
OVERVIEW
ON
REACTIVE
MOTION
GENERATION
WITH
ON-ROBOT
PROX
IMITY
PERCEPTION
.
42
2.3
IMPACT
ATTENUATION
.
45
2.3.1
IMPEDANCE
CONTROLLERS
.
46
VII
VIII
CONTENTS
2.3.2
OVERVIEW
OF
NON-MECHANICAL
IMPACT
ATTENUATION
METHODS
.
.
48
II
PROXIMITY
PERCEPTION
51
3
ARCHITECTURE
OF
THE
ON-ROBOT
PROXIMITY
PERCEPTION
SYSTEM
53
3.1
CONCEPT
.
53
3.1.1
DUAL
MODALITY
PROXIMITY
SENSING
MODULE
.
54
3.2
MECHANICAL
DESIGN
.
56
3.3
COMMUNICATION
.
57
3.3.1
INTER-SENSOR
COMMUNICATION
.
60
3.4
PROXIMITY
DATA
PROCESSING
AND
SELF-MEASUREMENT
REMOVAL
.
64
3.4.1
POINT
CLOUD
GENERATION
AND
CLASSIFICATION
.
65
3.4.2
POINT
CLOUD
BUFFER
.
70
4
CAPACITIVE
PROXIMITY
SENSING
73
4.1
DESIGN
CONSIDERATIONS
.
73
4.1.1
MAIN
OBJECTIVES
.
73
4.1.2
SENSITIVITY
AND
RANGE
.
75
4.1.3
DETECTION
ROBUSTNESS
AND
EMI
SUPPRESSION
.
78
4.1.4
NOISE
SUPPRESSION
AND
FINAL
SENSING
CIRCUIT
DESIGN
.
79
4.1.5
SIGNAL
PROCESSING
.
81
4.2
EVALUATION
.
84
4.2.1
DETECTION
OF
DIFFERENTLY GROUNDED
OBJECTS
.
84
4.2.2
DETECTION
VOLUME
.
85
4.2.3
RANGE
UNCERTAINTY
.
88
4.3
CONCLUSION
.
88
III
PROXIMITY
SERVOED
REACTIVE
MOTIONS
FOR
COLLISION
AVOIDANCE
91
5
REAL-TIME
CONTROL
SYSTEM
95
5.
1
SYSTEM
OVERVIEW
.
95
5.2
REAL-TIME
ROBOT
CONTROL
INTERFACE
.
96
6
SAMPLING-BASED
METHODS
FOR
DYNAMIC
COLLISION
AVOIDANCE
101
6.1
CONCEPT
.
101
6.2
TASK-PRIORITY
DEFINITION
IN
TASK
SPACE
.
103
6.3
AVOIDANCE
VECTOR
SAMPLING
.
105
CONTENTS
IX
6.4
REPULSIVE
MOTION
INTEGRATION
.
106
6.5
QUALITY
SCORES
.
107
6.6
EVALUATION
AND
DISCUSSION
.
110
7
CONSTRAINED
QUADRATIC
OPTIMIZATION
FOR
DYNAMIC
OBSTACLE
AVOIDANCE
119
7.1
CONCEPT
.
119
7.2
QUADRATIC
PROGRAM
AND
CONSTRAINT
DEFINITION
.
119
7.2.1
OBJECTIVE
FUNCTION
.
120
7.2.2
JOINT
CONSTRAINTS
.
121
7.2.3
COLLISION
AVOIDANCE
CONSTRAINTS
.
125
7.2.4
COLLISION
AVOIDANCE
CONSTRAINT
PARAMETER
CONFIGURATION
.
126
7.2.5
CONSTRAINT
SATISFACTION
THROUGH
PRIORITY
DEFINITION
.
127
7.3
EVALUATION
AND
CONCLUSION
.
128
IV
PROXIMITY
SERVOED
REACTIVE
ACTIONS
FOR
IMPACT ATTENUATION
135
8
VARIABLE
IMPEDANCE
CONTROL
FOR
IMPACT
ATTENUATION
139
8.1
CONCEPT
.
141
8.2
STIFFNESS
CONTROL
.
142
8.3
STABILITY
.
144
8.4
ENERGY-TANK-BASED
STIFFNESS
CONTROL
.
146
8.5
EVALUATION
AND
CONCLUSION
.
148
9
IMPROVING
THE
ATTENUATION
EFFECTIVENESS
OF
IMPEDANCE
CONTROLLERS
BY
JOINT
RECONFIGURATION
153
9.1
CONCEPT
.
154
9.2
JOINT
RECONFIGURATION
.
156
9.2.1
MANIPULABILITY
APPROACH
.
156
9.2.2
INERTIA
MATRIX
APPROACH
.
157
9.2.3
QUADRATIC
PROGRAM
INTEGRATION
.
158
9.2.4
COLLISION
ON
ANY
LINK
.
159
9.3
EVALUATION
AND
CONCLUSION
.
160
X
CONTENTS
V
SUMMARY
AND
OUTLOOK
165
10
SUMMARY
AND
OUTLOOK
167
10.1
SUMMARY
OF
THE
RESULTS
.
167
10.1.1
PERCEPTION
.
167
10.1.2
OBSTACLE
AND
COLLISION
AVOIDANCE
.
168
10.1.3
IMPACT
ATTENUATION
.
169
10.2
OUTLOOK
.
170
10.2.1
OUTLOOK
FOR
THE
EXISTING
SYSTEM
.
170
10.2.2
OUTLOOK
FOR
POTENTIAL
APPLICATIONS
.
172
BIBLIOGRAPHY
175
APPENDIX
187
A
INVERSE
MATRIX
NOTATION
.
187
B
SENSOR
SCHEMATICS
.
190
LIST
OF
FIGURES
193 |
| any_adam_object | 1 |
| any_adam_object_boolean | 1 |
| author | Ding, Yitao |
| author_GND | (DE-588)1268376841 |
| author_facet | Ding, Yitao |
| author_role | aut |
| author_sort | Ding, Yitao |
| author_variant | y d yd |
| building | Verbundindex |
| bvnumber | BV048476907 |
| classification_rvk | ZQ 6250 |
| ctrlnum | (OCoLC)1345051855 (DE-599)DNB1266335552 |
| discipline | Mess-/Steuerungs-/Regelungs-/Automatisierungstechnik / Mechatronik |
| discipline_str_mv | Mess-/Steuerungs-/Regelungs-/Automatisierungstechnik / Mechatronik |
| edition | 1. Auflage |
| format | Thesis Book |
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| genre | (DE-588)4113937-9 Hochschulschrift gnd-content |
| genre_facet | Hochschulschrift |
| id | DE-604.BV048476907 |
| illustrated | Illustrated |
| index_date | 2024-07-03T20:38:04Z |
| indexdate | 2024-07-10T09:39:12Z |
| institution | BVB |
| institution_GND | (DE-588)1064118135 |
| isbn | 9783844087628 3844087621 |
| language | English |
| oai_aleph_id | oai:aleph.bib-bvb.de:BVB01-033854633 |
| oclc_num | 1345051855 |
| open_access_boolean | |
| owner | DE-83 |
| owner_facet | DE-83 |
| physical | x, 199 Seiten Illustrationen, Diagramme 21 cm x 14.8 cm, 314 g |
| publishDate | 2022 |
| publishDateSearch | 2022 |
| publishDateSort | 2022 |
| publisher | Shaker |
| record_format | marc |
| series | Progress in Robotics/Fortschritte der Robotik |
| series2 | Progress in Robotics/Fortschritte der Robotik |
| spelling | Ding, Yitao Verfasser (DE-588)1268376841 aut Fast perception-action loops with proximity sensors for robotic manipulators Yitao Ding 1. Auflage Düren Shaker 2022 x, 199 Seiten Illustrationen, Diagramme 21 cm x 14.8 cm, 314 g txt rdacontent n rdamedia nc rdacarrier Progress in Robotics/Fortschritte der Robotik 3 Dissertation Technische Universität Chemnitz 2022 Manipulator (DE-588)4037349-6 gnd rswk-swf Automatische Handlungsplanung (DE-588)4211191-2 gnd rswk-swf Näherungssensor (DE-588)4565478-5 gnd rswk-swf Obstacle Avoidance Reactive Motions Impact Attenuation Proximity Servoing Proximity Perception Capacitive Proximity Sensors Collision Avoidance (DE-588)4113937-9 Hochschulschrift gnd-content Manipulator (DE-588)4037349-6 s Automatische Handlungsplanung (DE-588)4211191-2 s Näherungssensor (DE-588)4565478-5 s DE-604 Shaker Verlag (DE-588)1064118135 pbl Progress in Robotics/Fortschritte der Robotik 3 (DE-604)BV046343819 3 DNB Datenaustausch application/pdf http://bvbr.bib-bvb.de:8991/F?func=service&doc_library=BVB01&local_base=BVB01&doc_number=033854633&sequence=000001&line_number=0001&func_code=DB_RECORDS&service_type=MEDIA Inhaltsverzeichnis 1\p vlb 20220825 DE-101 https://d-nb.info/provenance/plan#vlb |
| spellingShingle | Ding, Yitao Fast perception-action loops with proximity sensors for robotic manipulators Progress in Robotics/Fortschritte der Robotik Manipulator (DE-588)4037349-6 gnd Automatische Handlungsplanung (DE-588)4211191-2 gnd Näherungssensor (DE-588)4565478-5 gnd |
| subject_GND | (DE-588)4037349-6 (DE-588)4211191-2 (DE-588)4565478-5 (DE-588)4113937-9 |
| title | Fast perception-action loops with proximity sensors for robotic manipulators |
| title_auth | Fast perception-action loops with proximity sensors for robotic manipulators |
| title_exact_search | Fast perception-action loops with proximity sensors for robotic manipulators |
| title_exact_search_txtP | Fast perception-action loops with proximity sensors for robotic manipulators |
| title_full | Fast perception-action loops with proximity sensors for robotic manipulators Yitao Ding |
| title_fullStr | Fast perception-action loops with proximity sensors for robotic manipulators Yitao Ding |
| title_full_unstemmed | Fast perception-action loops with proximity sensors for robotic manipulators Yitao Ding |
| title_short | Fast perception-action loops with proximity sensors for robotic manipulators |
| title_sort | fast perception action loops with proximity sensors for robotic manipulators |
| topic | Manipulator (DE-588)4037349-6 gnd Automatische Handlungsplanung (DE-588)4211191-2 gnd Näherungssensor (DE-588)4565478-5 gnd |
| topic_facet | Manipulator Automatische Handlungsplanung Näherungssensor Hochschulschrift |
| url | http://bvbr.bib-bvb.de:8991/F?func=service&doc_library=BVB01&local_base=BVB01&doc_number=033854633&sequence=000001&line_number=0001&func_code=DB_RECORDS&service_type=MEDIA |
| volume_link | (DE-604)BV046343819 |
| work_keys_str_mv | AT dingyitao fastperceptionactionloopswithproximitysensorsforroboticmanipulators AT shakerverlag fastperceptionactionloopswithproximitysensorsforroboticmanipulators |