Robot Control and Path Planning

1. Advanced Automation & Control
Lab 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 Pose
Challenge: 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 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]

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. 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