Höpler, Robert (2004)
A unifying object-oriented methodology to consolidate multibody dynamics computations in robot control.
Technische Universität Darmstadt
Dissertation, Bibliographie
Kurzbeschreibung (Abstract)
The work aims on resolving some problems arising from the intermingling of mathematical modeling of robotic mechanisms, numerical schemes, and implementation and integration into a whole robot control software architecture in common practice. The solution proposed in this thesis is a carefully designed object-oriented class hierarchy supporting the robot control engineer in the processes of specifying, implementing, and performing multibody computations required in robot control systems. The standard approach to multibody computations is to realize separate models for different applications of the same robot resulting in stand-alone numerical schemes—of course relying on individual idealizations and formalisms. This common procedure is nowadays no more suf�cient as the demand for model-based robot control is growing and integration of an increasing number of schemes becomes a key enabler. The problem of integration is tackled here by means of an object-oriented methodology consolidating the several conceptual levels of robot modeling, involving abstract, mechanical, numerical, and software representations of the same system under consideration, the robot mechanism. The common ground for the numerical schemes as well as their implementation is a new paradigm for the precise description of the robot"s mechanical components and the desired computations. The numerical and mathematical description of the governing equations is captured by a new port-based extension of the mathematical framework of symbolic spatial operators. A series of multibody algorithms, standard ones as well as some new for special purpose are recasted in object-oriented form and categorized according to this paradigm. A new dataflow-driven model of computation is proposed for the effcient implementation of recursive algorithms, which directly applies to object-oriented software systems. This alleviates the coupling of several models, as shown by some selected example applications, and justifies the effort of applying this methodology for robot dynamics computations.
| Typ des Eintrags: | Dissertation |
|---|---|
| Erschienen: | 2004 |
| Autor(en): | Höpler, Robert |
| Art des Eintrags: | Bibliographie |
| Titel: | A unifying object-oriented methodology to consolidate multibody dynamics computations in robot control |
| Sprache: | Englisch |
| Publikationsjahr: | August 2004 |
| Ort: | Darmstadt, Germany |
| Verlag: | VDI Verlag |
| (Heft-)Nummer: | 1054 |
| Reihe: | Fortschritt-Berichte VDI: Meß- Steuerungs- und Regelungstechnik |
| Band einer Reihe: | 8 |
| Datum der mündlichen Prüfung: | 6 August 2004 |
| Veranstaltungsort: | Darmstadt, Germany |
| Zugehörige Links: | |
| Kurzbeschreibung (Abstract): | The work aims on resolving some problems arising from the intermingling of mathematical modeling of robotic mechanisms, numerical schemes, and implementation and integration into a whole robot control software architecture in common practice. The solution proposed in this thesis is a carefully designed object-oriented class hierarchy supporting the robot control engineer in the processes of specifying, implementing, and performing multibody computations required in robot control systems. The standard approach to multibody computations is to realize separate models for different applications of the same robot resulting in stand-alone numerical schemes—of course relying on individual idealizations and formalisms. This common procedure is nowadays no more suf�cient as the demand for model-based robot control is growing and integration of an increasing number of schemes becomes a key enabler. The problem of integration is tackled here by means of an object-oriented methodology consolidating the several conceptual levels of robot modeling, involving abstract, mechanical, numerical, and software representations of the same system under consideration, the robot mechanism. The common ground for the numerical schemes as well as their implementation is a new paradigm for the precise description of the robot"s mechanical components and the desired computations. The numerical and mathematical description of the governing equations is captured by a new port-based extension of the mathematical framework of symbolic spatial operators. A series of multibody algorithms, standard ones as well as some new for special purpose are recasted in object-oriented form and categorized according to this paradigm. A new dataflow-driven model of computation is proposed for the effcient implementation of recursive algorithms, which directly applies to object-oriented software systems. This alleviates the coupling of several models, as shown by some selected example applications, and justifies the effort of applying this methodology for robot dynamics computations. |
| Fachbereich(e)/-gebiet(e): | 20 Fachbereich Informatik 20 Fachbereich Informatik > Simulation, Systemoptimierung und Robotik |
| Hinterlegungsdatum: | 02 Okt 2020 08:58 |
| Letzte Änderung: | 02 Okt 2020 08:58 |
| PPN: | |
| Datum der mündlichen Prüfung / Verteidigung / mdl. Prüfung: | 6 August 2004 |
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