- Видео 40
- Просмотров 177 121
RPTU LRS
Германия
Добавлен 22 авг 2016
RPTU in Kaiserslautern
Fachbereich Elektrotechnik und Informationstechnik
Lehrstuhl für Regelungssysteme Prof. Sr.-Ing. Steven Liu
eit.rptu.de/fgs/lrs/
Fachbereich Elektrotechnik und Informationstechnik
Lehrstuhl für Regelungssysteme Prof. Sr.-Ing. Steven Liu
eit.rptu.de/fgs/lrs/
A MPC-based approach for motion planning on redundant robots in human robot collaboration (CASE2024)
Supplementary video for the corresponding paper submission.
Просмотров: 195
Видео
Präsentation des Projektes Kokobot auf der Hannover Messe 2023
Просмотров 167Год назад
Das Projekt "Aufbau einer kollaborativen und kooperativen Robotikplattform - KoKoBot" wird vom Ministerium für Wirtschaft, Verkehr, Landwirtschaft und Weinbau des Landes Rheinland-Pfalz finanziert. Projektlaufzeit: 01.09.2021 - 31.07.2023 Fördervolumen: ca. 920.000€ mv.rptu.de/fgs/wskl/forschung/kokobot
Aira Challenge: ACHEMA 2022
Просмотров 158Год назад
We are delighted to be invited to participate in the Aira Challenge at ACHEMA 2022. Check more videos about this challenge from Invite GmbH: www.youtube.com/@UC8Q8Od5o0ygq9BrfCPw_EuA
AIRA2022 Sima
Просмотров 129Год назад
Our Team SIMA at AIRA Challenge, ACHEMA 2022. The original video from Invite GmbH: ruclips.net/video/J2cV9xNVSr8/видео.html
Roboter für industrielle Anwendung: Aira Challenge 2022 ACHEMA
Просмотров 242Год назад
Die Masterstudenten Simon, Manuel und Wladislaw zeigen, wie sie die industriellen Aufgaben mit unseren mobilen Roboter erledigen können.
An Adaptive Learning and Control Framework based on DMP with Application to Human-robot Handovers
Просмотров 7642 года назад
An Adaptive Learning and Control Framework based on DMP with Application to Human-robot Handovers
Self-stablization of an autonomous bike
Просмотров 6823 года назад
Self-stablization of an autonomous bike
Implementation of Distributed Model Predictive Control on Mobile Robots
Просмотров 2763 года назад
This video introduces the master thesis work of Mr. Hao Li. Different schemes of distributed model predictive control were validated using experiment. The localization was implemented using AprilTag, and the communication was implemented in ROS framework.
Simulation of multi-robot cooperative manipulation near multiple dynamic obstacles
Просмотров 8493 года назад
This is a supplementary simulation video for the previously uploaded "Distributed cooperative control for multi-robot manipulation (v2)" (ruclips.net/video/VtUhqSqThEI/видео.html). Different from the experiment, this simulation aims to test the effectiveness against multiple obstacles. In the end the internal force data are compared. Link to paper: doi.org/10.1016/j.mechatronics.2021.102560 All...
Stacker Crane Multibody Model using Simscape
Просмотров 5163 года назад
This multibody model of a stacker crane (STC) has been developed for development and control design under Simulink environment using Simscape Multibody (earlier SimMechanics). The parameters of the model can be modified to fit to any stacker crane. The masses, dimensions and densities are easily adjustable via the model mask interface. Different oscillation behaviors can be simulated with this ...
Human Detection and Collision Avoidance of a Mobile Robot
Просмотров 1,1 тыс.4 года назад
Implementation of image processing, object detection and control algorithms on our mobile robot.
Höhenregelung eines Quadkopters
Просмотров 2214 года назад
In diesem Video stellt Julius Stegmann die Ergebnis seiner Bachelorarbeit vor.
Cooperative control for coordinated multi-robot manipulation (Part 4/4)
Просмотров 6204 года назад
Part 1: ruclips.net/video/8PN7bQok8_w/видео.html Part 2: ruclips.net/video/RAT020qZm6A/видео.html Part 3: ruclips.net/video/U8IOngndDbo/видео.html An optimal motion planner is developed for multi-robot manipulation systems. By combining it with a proper motion controller, the robot system can handle object manipulation, obstacle avoidance and internal performance optimisation simultaneously. Th...
Cooperative control for coordinated multi-robot manipulation (Part 3/4)
Просмотров 4294 года назад
Part 1: ruclips.net/video/8PN7bQok8_w/видео.html Part 2: ruclips.net/video/RAT020qZm6A/видео.html Part 4: ruclips.net/video/odVXW8jnLio/видео.html An optimal motion planner is developed for multi-robot manipulation systems. By combining it with a proper motion controller, the robot system can handle object manipulation, obstacle avoidance and internal performance optimisation simultaneously. Th...
Cooperative control for coordinated multi-robot manipulation (Part 2/4)
Просмотров 4094 года назад
Part 1: ruclips.net/video/8PN7bQok8_w/видео.html Part 3: ruclips.net/video/U8IOngndDbo/видео.html Part 4: ruclips.net/video/odVXW8jnLio/видео.html An optimal motion planner is developed for multi-robot manipulation systems. By combining it with a proper motion controller, the robot system can handle object manipulation, obstacle avoidance and internal performance optimisation simultaneously. Th...
Cooperative control for coordinated multi-robot manipulation (Part 1/4)
Просмотров 6974 года назад
Cooperative control for coordinated multi-robot manipulation (Part 1/4)
Distributed cooperative control for multi-robot manipulation (v2)
Просмотров 6284 года назад
Distributed cooperative control for multi-robot manipulation (v2)
Impedance Control Demo with a 7-DOF Robot Arm
Просмотров 19 тыс.4 года назад
Impedance Control Demo with a 7-DOF Robot Arm
Distributed cooperative control for multi-robot manipulation with obstacle avoidance
Просмотров 1,9 тыс.4 года назад
Distributed cooperative control for multi-robot manipulation with obstacle avoidance
Safe and flexible cooperative robotic hand-over
Просмотров 3,1 тыс.5 лет назад
Safe and flexible cooperative robotic hand-over
Experimental validation of autonomous rideing of a two-wheeled vehicle
Просмотров 8345 лет назад
Experimental validation of autonomous rideing of a two-wheeled vehicle
Active Damping Model Predictive Control for a Distributed Parameter System
Просмотров 4465 лет назад
Active Damping Model Predictive Control for a Distributed Parameter System
Developing a multi-body bicycle simulator using SimScape Multibody(R)
Просмотров 5 тыс.5 лет назад
Developing a multi-body bicycle simulator using SimScape Multibody(R)
A multibody simulator for a simplified bicycle model including a CMG
Просмотров 1,9 тыс.5 лет назад
A multibody simulator for a simplified bicycle model including a CMG
Autonomes Zweiradfahrzeug: Aktuatoren und der Prüfstand
Просмотров 4736 лет назад
Autonomes Zweiradfahrzeug: Aktuatoren und der Prüfstand
State Space Control for the Pendulum-Cart System: A short tutorial on using Matlab® and Simulink®
Просмотров 120 тыс.6 лет назад
State Space Control for the Pendulum-Cart System: A short tutorial on using Matlab® and Simulink®
Experiments for model validation on treadmill
Просмотров 9617 лет назад
Experiments for model validation on treadmill
Development and implementation of pose estimation and localization for an autonomous bicycle
Просмотров 6717 лет назад
Development and implementation of pose estimation and localization for an autonomous bicycle
Gazebo simulation of a bicycle: The self-stability
Просмотров 7307 лет назад
Gazebo simulation of a bicycle: The self-stability
Hello. New updates, with Matlab 2023A: For the observer part: - Since there was a mistake using B instead of C for the output of the system, it is necessary to put u*C in the system. - In the observer, it works with Cd*u. - In the observer, the observer gain must be u*Ob. I think that with the above corrections, you will get the same results as in the video. Now, for the non-linear part, I did not have the variable g_q. So, just in the working space, define g_q = [1;0]. With the above, you will see the simulation. Keep studying! See you.
Hello, thanks for your great work. Can I get the information about the motor you used for CMG? Thank you in advance.
too slow
Heyy I’m currently working on a bicycle dynamics project and need help in validation in Simulink. How can I contact you??
How do replace it with a plant at 29:49
how to get A, B C D matrix of linearization formula?
thank you
Love you sir ❤ from India
Me quedo 8npactala con la tecnologia😮
Stark
Stark
Stark
Manu Stark
🇵🇸🇵🇸🇵🇸
Is there some literature on this?
Thank you sir! Can I obtain a procedure for deriving the equations of motion for that system?
👌👌👌👌👌
why is it so severely over-engineered?
Hello Sir, did you use interrupts in rpi for reacting once obstacle is detected. If not how is it implemented please tell if it is possible.
would you mind sharing the codes for this simulation?
why does he multiple by B for output instead of C?
i also have the same doubt
Hello, at 14.57 min, you said a term 'input of word', what you mean by that?
Can you share the source?
Hello,where can i find the paper of the demo project,thanks very much.
HI EIT TUK, I'm aware that you guys are controlling the robot under torque mode, it is a really great work. I have two questions if i may, let's say you guys have solved the IK puzzle and know what are the desired position for each motor: 1.When you guys are controlling the robot's position under torque mode, are you guys updating the torque command every communication cycle? if so, what's your communication cycle in time unit(like ms)? 2.How do you guys deal with the final stopping part? Specifically what's your general principle of stopping the motor at the specific position, how do you guys deal with the deceleration and make sure the motor will stop at the exact acceptable position offset range? I'm really looking forward to hear you back, thanks in advance!
Hello, have you been able to answer this question yet? I know this is an old comment but I would like to know as well!
Hi i'm doing my own thing, i guess in terms of the communication cycle it might be different for different situations, not sure what you are doing and what you are searching for specifically.@@Nathan-ey6ps
how do you make the animation? thanks for the video !!
Hi! Congrats on your work! Where can I find this Masters Thesis?
waw can you please send me the code
Hey can you please tell me where can I read about those dynamic equations
I am wondering, how we can control inverted Pendulum, juts on the knowledge based on position x?. As output of plant is just position, which Is used in observer, to estimate states. This implies that there is no need of angle measurement for balancing, but we know that for balancing robots and pendulums, it is necessary to have potentiometer or MEMS to measure angle of pendulum.. I believe, if we have just theta in output, means C=[ 0 0 1 0], then self balancing can be achieved, knowledge of position is not a must have thing in balancing, but theta is must..
Hello, first nice work, that's impressive ! I'm an engineering student and for my last year exams i'm writting a state of the art about AI - Human co-learning. And I was wondering if you would mind if i use a part of your video for my presentation ? Of course i will quote you and your article.
Nice work! Is the robot arm controlled in speed mode?
Thank you for your interest. The robot arm is controlled in torque mode using impedance control.
DANKE !!
hello when ever i try to type the observer matrix i get an error that it is not defined i need a solution for that if anyone can you help me please.!!
at 31:06 ,I replaced “[K_d ,~ ,~] = dlqr(Ad,Bd,Q,R,N);” with “[K_d ,s ,e] = dlqr(Ad,Bd,Q,R,N);” ,and the result of e is [0.98929, 0.97981,0.968874,0.33317],,The values in e are all greater than 0, is it because this is calculated in the discretization?
Provide the code
Sehr informativ
Thank you very much. Very usefull
wow such a hard work...such awesome thing..
i think some big tech will come to you...
Klasse Einblick in euer Projekt! Gerade dass man auch die ganzen Hürden auf dem Weg zum Ziel sieht. Starke Arbeit Jungs!
Good job, thank you for sharing.
I'm trying it, but it can't read the valus from my output, so i can't change the parameter. I Create the MyTask.m to change Q and R, but it just works with dafault values, not from my values. How i can use my values?
YOU ARE SO GREAT! PROFESSOR . a student from china
Hallo Allen, this is very insightful, thanks. I already sent you a message via Research gate.
Hey you have taken in simulink model x0 is a variable but in my Matlab model it was not taking so help me
At 29.25 --> Invalid dimensions specified for input port 1 in 'MyModel/Observer/Gain3'. The gain specified has dimensions [1x4], while the input is being set to have the dimensions [1]. These dimensions are not suitable for generating the matrix product of the gain with the input signal Component:Simulink | Category:Model error Error in port widths or dimensions. Output port 1 of 'MyModel/Observer/Sum1' is a one dimensional vector with 1 elements. Component:Simulink | Category:Model error
I using matlab R2017b
try to ad apostrophe transpose the matrix if for example the gain is Cd make it Cd'
have you tried to derive the state space representation
@@abdelkader6347 I just tried the simulation and am trying to understand it. does this video fit in the journal?
@@abdelkader6347 Do you know or have literature similar to this video?
Thanks sir it was so practical 😍
may I ask about this simulation? via email or etc, thank you
How do you control the pendulum angle to not rotate beyond certain angle (say 5 degree)?
Not bad! Are you using SICK lidar? Did you have any problems with it? We use RPlidar in a similar project and its performance is lacking... especially in outdoor environments.
Yes we use the SICK Tim 571 Lidar. We also tried it in a corridor outside our building and it could fufill our requirement. We didn't test it in a "wild" outdoor environment since this project is aimed for indoor applications.
I really like your LAB🥰🥰