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Automation and COntrol

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Robot Control and Path Planning

Robot Control and Path Planning

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  • 1. Advanced Automation & ControlLab Presentation Jacobs University Fall 2011 Razvan Mihalyi Billy Okal Remus Dumitru
  • 2. Outline Giovanni Indiveri Robot Control Giovanni Indiveri Robot Path Following KUKA KR6 Inverse Kinematics
  • 3. Giovanni Control (0) Kinematic Model Lyapunov-based closed loop control, i.e. two-formula control ;-) [Giovanni Indiveri ‘99]
  • 4. Giovanni Control (1)Task: Drive robot a specific PoseChallenge: No sensors (only odometry)Setup 1: Drive to Pose (2, 2, π/2)
  • 5. Giovanni Control (2)Setup 2: Drive to Pose (2, -1, π)
  • 6. 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]
  • 7. Giovanni Path Following (2) Scenario 2: Driving an ‘Eight’
  • 8. Giovanni Path Following (3) Scenario 2: Driving a “Circle”, path consisting on curves and straight paths
  • 9. KUKA KR6 IK (1)Task: Compute the Inverse Kinematics of KUKA KR6Industrial robotMove the robot end effector along one given directiononly at a time.Setup: USARSIM simulator, ROS framework forcontrolling the robot [Alireza Khatamian Bachelor Thesis]
  • 10. KUKA KR6 IK (2)DH Parameters [Alireza Khatamian Thesis]
  • 11. KUKA KR6 IK (3)Vertical Motion
  • 12. KUKA KR6 IK (4)Combined Vertical and Horizontal Motion
  • 13. ReferencesGiovanni Indiveri, Maria Letizia Corradini; SwitchingLinear Path Following For Bounded Curvature Car-LikeVehiclesGiovanni Indiveri; Kinematic Time-invariant Control of a2D Nonholonomic VehicleAlireza Khatamian; Bachelor Thesis