Vision-based manipulator control of calibration-free robots:
Gespeichert in:
| 1. Verfasser: | |
|---|---|
| Format: | Abschlussarbeit Buch |
| Sprache: | German |
| Veröffentlicht: |
Herdecke
GCA-Verl.
2002
|
| Ausgabe: | Als Ms. gedr. |
| Schriftenreihe: | Forschen und Wissen : Robotik
|
| Schlagworte: | |
| Online-Zugang: | Inhaltsverzeichnis |
| Beschreibung: | XXXI, 215 S. Ill., graph. Darst. : 21cm, 350 gr. 1 CD-ROM |
| ISBN: | 3898631079 |
Internformat
MARC
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| 100 | 1 | |a Maryniak, André |e Verfasser |4 aut | |
| 245 | 1 | 0 | |a Vision-based manipulator control of calibration-free robots |c André Maryniak |
| 250 | |a Als Ms. gedr. | ||
| 264 | 1 | |a Herdecke |b GCA-Verl. |c 2002 | |
| 300 | |a XXXI, 215 S. |b Ill., graph. Darst. : 21cm, 350 gr. |e 1 CD-ROM | ||
| 336 | |b txt |2 rdacontent | ||
| 337 | |b n |2 rdamedia | ||
| 338 | |b nc |2 rdacarrier | ||
| 490 | 0 | |a Forschen und Wissen : Robotik | |
| 502 | |a München, Univ. der Bundeswehr, Diss., 2002 | ||
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| 943 | 1 | |a oai:aleph.bib-bvb.de:BVB01-010177972 | |
Datensatz im Suchindex
| _version_ | 1808045269317582848 |
|---|---|
| adam_text |
CONTENTS
ACKNOWLEDGMENTS
.
IX
ABSTRACT
.
XI
LIST
OF
VIDEOS
.
XVII
LIST
OF
FIGURES
.
XXVI
LIST
OF
TABLES
.
XXVII
LIST
OF
SYMBOLS
AND
ABBREVIATIONS
.
XXIX
1
INTRODUCTION
1
1.1
OBJECTIVE
.
1
1.2
FREEDOM
FROM
CALIBRATION:
DEFINITION
.
2
1.3
MOTIVATION
.
3
1.4
PROBLEM
STATEMENT
AND
CONTRIBUTIONS
OF
THIS
WORK
.
4
1.5
CONCLUSIONS
.
9
2
THE
STATE
OF
THE
ART
11
2.1
THE
ROBOTIC
SYSTEM
AND
ITS
CONTROL
.
11
2.2
VISION
.
15
2.3
CONCLUSIONS
.
19
3
THE
CONTROL
APPROACH
21
3.1
THE
IDEA
.
21
3.2
THE
CONCEPT
.
23
3.2.1
THE
STRUCTURE
.
23
3.2.2
THE
SENSOR-CONTROL
JACOBIAN
.
25
3.2.3
CONSIDERATION
OF
THE
TYPE
OF
BUILT-IN
CONTROLLERS
.
26
3.2.4
ABSOLUTE
COMMAND
CONTROL
.
27
3.2.5
RELATIVE
COMMAND
CONTROL
.
29
3.2.6
ACHIEVEMENT
OF
THE
CONTROL
GOAL
.
30
3.2.7
DETERMINATION
OF
THE
SENSOR-CONTROL
JACOBIAN
.
31
3.2.8
TASK
SPECIFICATION
.
32
3.2.9
INTERMEDIATE
GOALS
.
34
XIV
CONTENTS
3.2.10
SIMPLIFIED
ENVIRONMENTAL
REQUIREMENTS
.
35
3.3
A
REALIZATION
.
36
3.4
EXPERIMENTS
.
39
3.5
DISCUSSION
.
41
3.6
CONCLUSIONS
.
43
4
SENSOR
DATA
REDUNDANCY
45
4.1
MOTIVATION
.
45
4.2
THE
SIMPLEST
METHOD
TO
HANDLE
REDUNDANCY
.
48
4.3
TRANSFORMATION
OF
SENSOR
DATA
.
49
4.4
WEIGHTED
AVERAGING
OF
SUBSOLUTIONS
.
50
4.5
EVALUATION
.
52
4.5.1
SIMULATION
OF
WEIGHTED
AVERAGING
OF
SUBSOLUTIONS
.
52
4.5.2
EXPERIMENTS
.
55
4.6
DISCUSSION
.
58
4.7
CONCLUSIONS
.
61
5
PERCEPTION
63
5.1
INTRODUCTION
.
63
5.1.1
VISUAL
PERCEPTION
.
65
5.1.2
PURPOSE
.
68
5.1.3
DETECTION
VS.
TRACKING
.
69
5.1.4
CHARACTERISTICS
OF
A
GOOD
GRASP
.
70
5.1.5
THE
VARIETY
OF
OBJECTS
.
70
5.1.6
THE
RELEVANCE
OF
LOCAL
GRAY
VALUE
CHANGES
.
71
5.2
THE
SOLUTION
CONCEPT
.
71
5.2.1
HIERARCHICAL
INFORMATION
PROCESSING
.
71
5.2.2
THE
GRIPPER
'
S
RELEVANT
CHARACTERISTICS
.
73
5.2.2.1
CLOSED
VS.
OPEN
GRIPPER
.
73
5.2.2.2
DEFINITION
OF
THE
GRIPPER
'
S
RELEVANT
CHARACTERISTICS
.
73
5.2.2.3
MISCELLANY
OF
POTENTIAL
CASES
.
75
5.2.2.4
SUITABLE
GRIPPER
COLORING
.
77
5.2.3
THE
OBJECTS
'
RELEVANT
CHARACTERISTICS
.
77
5.2.3.1
PRINCIPLE
.
77
5.2.3.2
A
BASIC
EXAMPLE
.
81
5.2.3.3
EDGES
OF
LITTLE
CONTRAST
.
82
5.2.3.4
NATURAL
OBJECTS
.
82
5.2.3.5
CORRESPONDENCE
BETWEEN
RELEVANT
CHARACTERISTICS
.
82
5.2.4
REDUNDANCY
.
83
CONTENTS
XV
5.3
REALISATION
.
84
5.3.1
HIERARCHICAL
INFORMATION
PRE-PROCESSING
.
84
5.3.1.1
SELECTION
OF
THE
AREA
OF
INTEREST
.
84
5.3.1.1.1
DETECTION
OF
THE
GRIPPER
.
84
5.3.1.1.2
TRACKING
OF
THE
GRIPPER
.
85
5.3.1.1.3
DETECTION
OF
THE
OBJECT
.
86
5.3.1.2
FILTERING
OF
THE
IMAGE
.
87
5.3.1.3
ELIMINATION
OF
SMALL
MAGNITUDE
NOISE
.
88
5.3.1.4
THINNING
OF
THE
CLUSTERS
OF
THE
REMAINING
PIXELS
.
89
5.3.1.5
GROUPING
OF
PIXELS
.
89
5.3.1.6
FUERTHER
DISTURBANCE
REJECTION
.
90
5.3.1.7
PIXELS
TO
EDGES
.
90
5.3.2
INTELLIGENT
ANALYSIS
.
92
5.3.2.1
DETECTION
OF
THE
GRIPPER
'
S
RELEVANT
CHARACTERISTICS
.
92
5.3.2.1.1
CLASSIFICATION
OF
EDGES
IN
THE
IMAGE
.
92
5.3.2.1.2
DETERMINATION
OF
CERTAIN
EDGES
.
94
5.3.2.1.3
DERIVATION
OF
THE
RELEVANT
CHARACTERISTICS
.
95
5.3.2.2
TRACKING
OF
THE
GRIPPER
'
S
RELEVANT
CHARACTERISTICS
.
99
5.3.2.2.1
ELEMENTARY
TRACKING
.
99
OE.3.2.2.2
FILTERING
.
100
OE.3.2.2.3
PREDICTION
.
100
5.3.2.2.4
TRACKING
OF
THE
GRIPPER
NEXT
TO
AN
OBJECT
.
101
5.3.2.3
RECOGNITION
OF
THE
OBJECT
'
S
RELEVANT
CHARACTERISTICS
.
.
.
102
5.3.2.4
INTERPLAY
OF
GRIPPER
AND
OBJECT
RECOGNITION
.
102
5.4
EXPERIMENTS
AND
DISCUSSION
.
104
5.4.1
EXPERIMENTAL
SETUP
.
104
5.4.2
DETECTION
OF
THE
GRIPPER
'
S
RELEVANT
CHARACTERISTICS
.
104
5.4.3
TRACKING
OF
THE
GRIPPER
'
S
RELEVANT
CHARACTERISTICS
.
114
5.4.3.1
TRACKING
OF
THE
GRIPPER
ALONE
.
114
5.4.3.1.1
TRACKING
IN
A
COMPLEX
ROBOT
MOVEMENT
.
114
5.4.3.1.2
TRACKING
IN
FAST
ROBOT
MOVEMENTS
.
121
5.4.3.2
TRACKING
OF
THE
GRIPPER
NEXT
TO
AN
OBJECT
.
121
5.4.3.3
ADDITIONAL
COMPUTING
TIMES
FOR
KALMAN
FILTERING
/
PRE
DICTION
.
121
5.4.4
DETECTION
OF
THE
OBJECT
'
S
RELEVANT
CHARACTERISTICS
.
123
5.4.5
INTERPLAY
OF
GRIPPER
AND
OBJECT
RECOGNITION
.
125
5.5
CONCLUSIONS
.
125
6
ADVANCED
CONTROL
127
XVI
CONTENTS
6.1
CONTROLLER
DESIGN
.
128
6.2
PROCESS
IDENTIFICATION
.
131
6.2.1
APPLICATION
OF
THE
ORIGINAL
METHOD
.
131
6.2.2
ADVANCED
JACOBIAN
ADAPTATION
.
133
6.3
INTEGRATION
OF
REDUNDANCY
.
134
6.4
FUERTHER
ASPECTS
TO
CONSIDER
.
134
6.5
CONCLUSIONS
.
135
7
COMBINED
VISION
AND
CONTROL
EXPERIMENTS,
AND
THEIR
DISCUSSION
137
7.1
EVALUATION
OF
THE
GENERAL
APPROACH
ON
THE
ROBOT
HERMES
.
137
7.2
ADVANCED
JACOBIAN
ADAPTATION
.
148
7.3
UTILIZATION
OF
REDUNDANCY
.
152
7.4
TASK
SOLUTION
WITH
A
DIFFERENT
MANIPULATOR
OF
HERMES
.
156
7.5
EVALUATION
ON
YET
ANOTHER
ROBOT:
NIKE
.
159
7.6
ROBOTS
USING
PARTS
OF
OTHER
ROBOTS
.
162
7.7
CONCLUSIONS
.
166
8
CONCLUDING
REMARKS
167
8.1
SUMMARY
.
167
8.2
CONCLUSIONS
.
170
8.3
OUTLOOK
.
172
BIBLIOGRAPHY
175
A
FUERTHER
MATERIAL
DOCUMENTING
THE
EXPERIMENTS
181
A.L
EXAMPLES
OF
MANIPULATING
VARIOUS
OBJECTS
.
181
A.2
COURSES
OF
SIGNALS
IN
THE
TRACKING
OF
FAST
MOVEMENTS
.
200
A.3
FUERTHER
EXAMPLES
CONCERNING
SENSOR
DATA
REDUNDANCY
.
209 |
| any_adam_object | 1 |
| author | Maryniak, André |
| author_facet | Maryniak, André |
| author_role | aut |
| author_sort | Maryniak, André |
| author_variant | a m am |
| building | Verbundindex |
| bvnumber | BV016462030 |
| classification_rvk | ZQ 6250 |
| ctrlnum | (OCoLC)76474844 (DE-599)BVBBV016462030 |
| discipline | Mess-/Steuerungs-/Regelungs-/Automatisierungstechnik / Mechatronik |
| edition | Als Ms. gedr. |
| format | Thesis Book |
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| genre | (DE-588)4113937-9 Hochschulschrift gnd-content |
| genre_facet | Hochschulschrift |
| id | DE-604.BV016462030 |
| illustrated | Illustrated |
| indexdate | 2024-08-22T00:25:34Z |
| institution | BVB |
| isbn | 3898631079 |
| language | German |
| oai_aleph_id | oai:aleph.bib-bvb.de:BVB01-010177972 |
| oclc_num | 76474844 |
| open_access_boolean | |
| owner | DE-706 |
| owner_facet | DE-706 |
| physical | XXXI, 215 S. Ill., graph. Darst. : 21cm, 350 gr. 1 CD-ROM |
| publishDate | 2002 |
| publishDateSearch | 2002 |
| publishDateSort | 2002 |
| publisher | GCA-Verl. |
| record_format | marc |
| series2 | Forschen und Wissen : Robotik |
| spelling | Maryniak, André Verfasser aut Vision-based manipulator control of calibration-free robots André Maryniak Als Ms. gedr. Herdecke GCA-Verl. 2002 XXXI, 215 S. Ill., graph. Darst. : 21cm, 350 gr. 1 CD-ROM txt rdacontent n rdamedia nc rdacarrier Forschen und Wissen : Robotik München, Univ. der Bundeswehr, Diss., 2002 Steuerung (DE-588)4057472-6 gnd rswk-swf Informationsverarbeitung (DE-588)4161678-9 gnd rswk-swf Regelungssystem (DE-588)4134712-2 gnd rswk-swf Autonomer Roboter (DE-588)4304075-5 gnd rswk-swf Elektrooptik (DE-588)4137456-3 gnd rswk-swf Maschinelles Sehen (DE-588)4129594-8 gnd rswk-swf Industrieroboter (DE-588)4026861-5 gnd rswk-swf (DE-588)4113937-9 Hochschulschrift gnd-content Industrieroboter (DE-588)4026861-5 s DE-604 Autonomer Roboter (DE-588)4304075-5 s Maschinelles Sehen (DE-588)4129594-8 s Steuerung (DE-588)4057472-6 s Elektrooptik (DE-588)4137456-3 s Regelungssystem (DE-588)4134712-2 s Informationsverarbeitung (DE-588)4161678-9 s DNB Datenaustausch application/pdf http://bvbr.bib-bvb.de:8991/F?func=service&doc_library=BVB01&local_base=BVB01&doc_number=010177972&sequence=000001&line_number=0001&func_code=DB_RECORDS&service_type=MEDIA Inhaltsverzeichnis |
| spellingShingle | Maryniak, André Vision-based manipulator control of calibration-free robots Steuerung (DE-588)4057472-6 gnd Informationsverarbeitung (DE-588)4161678-9 gnd Regelungssystem (DE-588)4134712-2 gnd Autonomer Roboter (DE-588)4304075-5 gnd Elektrooptik (DE-588)4137456-3 gnd Maschinelles Sehen (DE-588)4129594-8 gnd Industrieroboter (DE-588)4026861-5 gnd |
| subject_GND | (DE-588)4057472-6 (DE-588)4161678-9 (DE-588)4134712-2 (DE-588)4304075-5 (DE-588)4137456-3 (DE-588)4129594-8 (DE-588)4026861-5 (DE-588)4113937-9 |
| title | Vision-based manipulator control of calibration-free robots |
| title_auth | Vision-based manipulator control of calibration-free robots |
| title_exact_search | Vision-based manipulator control of calibration-free robots |
| title_full | Vision-based manipulator control of calibration-free robots André Maryniak |
| title_fullStr | Vision-based manipulator control of calibration-free robots André Maryniak |
| title_full_unstemmed | Vision-based manipulator control of calibration-free robots André Maryniak |
| title_short | Vision-based manipulator control of calibration-free robots |
| title_sort | vision based manipulator control of calibration free robots |
| topic | Steuerung (DE-588)4057472-6 gnd Informationsverarbeitung (DE-588)4161678-9 gnd Regelungssystem (DE-588)4134712-2 gnd Autonomer Roboter (DE-588)4304075-5 gnd Elektrooptik (DE-588)4137456-3 gnd Maschinelles Sehen (DE-588)4129594-8 gnd Industrieroboter (DE-588)4026861-5 gnd |
| topic_facet | Steuerung Informationsverarbeitung Regelungssystem Autonomer Roboter Elektrooptik Maschinelles Sehen Industrieroboter Hochschulschrift |
| url | http://bvbr.bib-bvb.de:8991/F?func=service&doc_library=BVB01&local_base=BVB01&doc_number=010177972&sequence=000001&line_number=0001&func_code=DB_RECORDS&service_type=MEDIA |
| work_keys_str_mv | AT maryniakandre visionbasedmanipulatorcontrolofcalibrationfreerobots |