Abstract
This paper introduces a generic framework for sensor-based robot motion control. The key contribution is the introduction of an adaptive selection matrix for sensor-based hybrid switched-system control. The overall control system consists of multiple sensors and open- and closed-loop controllers, in-between which the adaptive selection matrix can switch discretely in order to supply command variables for low-level controllers of robotic manipulators. How control signals are chosen, is specified by Manipulation Primitives, which constitute the interface to higher-level applications. This programming paradigm is formally specified in order to establish the possibility of executing sensor-guided and sensor-guarded motion commands simultaneously and in a very open way, such that any kind and any number of sensors can be addressed. A further key feature of this generic approach is, that the control structure can be directly mapped to a corresponding software architecture. The resulting control system is freely scalable depending on the performance requirements of the desired system.
This is a preview of subscription content, log in via an institution.
Buying options
Tax calculation will be finalised at checkout
Purchases are for personal use only
Learn about institutional subscriptionsPreview
Unable to display preview. Download preview PDF.
References
Mosemann, H., Wahl, F.M.: Automatic decomposition of planned assembly sequences into skill primitives. IEEE Trans. on Robotics and Automation 17(5), 709–718 (2001)
Finkemeyer, B., Kröger, T., Wahl, F.M.: A Middleware for High-Speed Distributed Real-Time Communication. In: Schütz, D., Wahl, F.M. (eds.) Robotic Systems for Handling and Assembly. STAR, vol. 67, pp. 193–212. Springer, Heidelberg (2010)
Steiner, J., Maaß, J., Goltz, U.: Self-Management within a Software Architecture for Parallel Kinematic Machines. In: Schütz, D., Wahl, F.M. (eds.) Robotic Systems for Handling and Assembly. STAR, vol. 67, pp. 355–371. Springer, Heidelberg (2010)
Dadji, Y., Michalik, H., Kohn, P.N., Steiner, J., Beckmann, G., Möglich, T., Varchmin, J.-U.: A Communication Architecture for Distributed Real-Time Robot Control. In: Schütz, D., Wahl, F.M. (eds.) Robotic Systems for Handling and Assembly. STAR, vol. 67, pp. 213–231. Springer, Heidelberg (2010)
Steiner, J., Diethers, K., Goltz, U.: Model Based Quality Assurance for a Robotic Software Architecture. In: Schütz, D., Wahl, F.M. (eds.) Robotic Systems for Handling and Assembly. STAR, vol. 67, pp. 373–389. Springer, Heidelberg (2010)
Maaß, J., Dietrich, F., Hesselbach, J.: RCA562: Control Architecture for Parallel Kinematic Robots. In: Schütz, D., Wahl, F.M. (eds.) Robotic Systems for Handling and Assembly. STAR, vol. 67, pp. 315–331. Springer, Heidelberg (2010)
Thomas, U., Wahl, F.M.: Assembly Planning and Task Planning—Two Prerequisites for Automated Robot Programming. In: Schütz, D., Wahl, F.M. (eds.) Robotic Systems for Handling and Assembly. STAR, vol. 67, pp. 333–354. Springer, Heidelberg (2010)
Mason, M.T.: Compliance and force control for computer controlled manipulators. IEEE Trans. on Systems, Man, and Cybernetics 11, 418–432 (1981)
Bruyninckx, H., Schutter, J.D.: Specification of force-controlled actions in the task frame formalism — A synthesis. IEEE Trans. on Robotics and Automation 12(4), 581–589 (1996)
Schutter, J., van Brussel, J.: Compliant robot motion I. A formalism for specifying compliant motion tasks. The International Journal of Robotics Research 7(5), 3–17 (1988)
Schutter, J., van Brussel, J.: Compliant robot motion II. A control approach based on external control loops. The International Journal of Robotics Research 7(4), 18–33 (1988)
Reisinger, T., Kolbus, M., Wobbe, F., Schumacher, W.: Integrated Force and Motion Control of Parallel Robots – Part 2: Constrained Space. In: Schütz, D., Wahl, F.M. (eds.) Robotic Systems for Handling and Assembly. STAR, vol. 67, pp. 253–273. Springer, Heidelberg (2010)
Kröger, T., Finkemeyer, B., Wahl, F.M.: A task frame formalism for practical implementations. In: Proc. of the IEEE International Conference on Robotics and Automation, New Orleans, LA, USA, pp. 5218–5223 (2004)
Villani, L., Schutter, J.D.: Force control. In: Siciliano, B., Khatib, O. (eds.) Springer Handbook of Robotics, 1st edn., ch. 7, pp. 161–185. Springer, Heidelberg (2008)
Osypiuk, R., Kröger, T.: Parallel Stiffness Actuators with Six Degrees of Freedom for Efficient Force/Torque Control Applications. In: Schütz, D., Wahl, F.M. (eds.) Robotic Systems for Handling and Assembly. STAR, vol. 67, pp. 275–291. Springer, Heidelberg (2010)
Hogan, N.: Impedance control: An approach to manipulation. Part I: Theory. Part II: Implementation. Part III: Applications. ASME Journal of Dynamic Systems, Measurment, and Control 107, 1–24 (1985)
Chiaverini, S., Sciavicco, L.: The parallel approach to force/position control of robotic manipulators. IEEE Trans. on Robotics and Automation 9(4), 361–373 (1993)
Raibert, M.H., Craig, J.J.: Hybrid position/force control of manipulators. ASME Journal of Dynamic Systems, Measurement and Control 102, 126–133 (1981)
Duffy, J.: The fallacy of modern hybrid control theory that is based on “orthogonal complements” of twist and wrench spaces. Journal of Robotic Systems 7(2), 139–144 (1990)
Branicky, M.S.: Studies in Hybrid Systems: Modeling, Analysis, and Control. Ph.D. thesis, Electrical Engineering and Computer Science Dept., Massachusetts Institute of Technology (1995), http://dora.cwru.edu/msb/pubs.html (accessed: December 15, 2008)
Branicky, M.S.: Multiple Lyapunov functions and other analysis tools for switched and hybrid systems. IEEE Trans. on Automatic Control 43(4), 475–482 (1998)
Liberzon, D.: Switching in Systems and Control. In: Systems and Control: Foundations and Applications, Birkhäuser, Boston (2003)
Gans, N.R., Hutchinson, S.A.: Stable visual servoing through hybrid switched-system control. IEEE Trans. on Robotics 23(3), 530–540 (2007)
Baeten, J., Schutter, J.D.: Integrated Visual Servoing and Force Control. Springer Tracts in Advanced Robotics, vol. 8. Springer, Heidelberg (2004)
Chaumentte, F., Hutchinson, S.A.: Visual servoing and visual tracking. In: Siciliano, B., Khatib, O. (eds.) Springer Handbook of Robotics, 1st edn., ch. 24, pp. 563–583. Springer, Heidelberg (2008)
Borelly, J.-J., Coste-Maniere, E., Espiau, B., Kapellos, K., Pissard-Gibollet, R., Simon, D., Turro, N.: The orccad architecture. The International Journal of Robotics Research 17(4), 338–359 (1998)
Bruyninckx, H., Soetens, P., Koninckx, B.: The real-time motion core of the orocos project. In: Proc. of the IEEE International Conference on Robotics and Automation, Taipei, Taiwan, pp. 2766–2771 (2003)
Scheider, S.A., Chen, V.W., Pardo-Castellote, G., Wang, H.H.: Controlshell: A software architecture for complex electromechanical systems. The International Journal of Robotics Research 17(4), 360–380 (1998)
Cortesão, R., Koeppe, R., Hirzinger, G.: Data fusion for robotic assembly tasks based on human skills. IEEE Trans. on Robotics 20(6), 941–952 (2004)
Schutter, J., Laet, T.D., Rutgeerts, J., Decré, W., Smits, R., Aertbeliën, E., Claes, K., Bruyninckx, H.: Constraint-based task specification and estimation for sensor-based robot systems in the presence of geometric uncertainty. The International Journal of Robotics Research 26(5), 433–454 (2007)
OROCOS Homepage. Open robot control software (2002), http://www.orocos.org (accessed: December 15, 2008)
Bäuml, B., Hirzinger, G.: Agile robot development (aRD): A pragmatic approach to robotic software. In: Proc. of the IEEE/RSJ International Conference on Intelligent Robots and Systems, Beijing, China, pp. 3741–3748 (2006)
Maaß, J., Steiner, J., Raatz, A., Hesselbach, J., Goltz, U., Amado, A.: Self-management in a control architecture for parallel kinematic robots. In: Proc. of the 27th ASME Computers and Information in Engineering Conference, New York, NY, USA (2008)
Finkemeyer, B., Kröger, T., Wahl, F.M.: Executing assembly tasks specified by manipulation primitive nets. Advanced Robotics 19(5), 591–611 (2005)
Finkemeyer, B.: Robotersteuerungsarchitektur auf der Basis von Aktionsprimitiven (in German). Shaker Verlag, Aachen (2004)
Thomas, U., Wahl, F.M., Maaß, J., Hesselbach, J.: Towards a new concept of robot programming in high speed assembly applications. In: Proc. of the IEEE/RSJ International Conference on Intelligent Robots and Systems, Edmonton, Canada, pp. 3827–3833 (2005)
Kröger, T.: On-Line Trajectory Generation in Robotic Systems. Ph.D. thesis, Institut für Robotik und Prozessinformatik, Technische Universität Carolo-Wilhelmina zu Braunschweig (2009)
Kröger, T., Finkemeyer, B., Winkelbach, S., Molkenstruck, S., Eble, L.-O., Wahl, F.M.: A manipulator plays Jenga. IEEE Robotics and Automation Magazine 15(3), 79–84 (2008)
Hasbro Inc., 1027 Newport Avenue, Mailstop A906, Pawtucket, RI 02861, USA. Jenga homepage (2008), http://www.jenga.com (accessed: December 15, 2008)
Kröger, T., Finkemeyer, B., Winkelbach, S., Molkenstruck, S., Eble, L.-O., Wahl, F.M.: Demonstration of multi-sensor integration in industrial manipulation (poster). In: Proc. of the IEEE International Conference on Robotics and Automation, Orlando, FL, USA, pp. 4282–4284 (2006)
Kröger, T., Finkemeyer, B., Winkelbach, S., Molkenstruck, S., Eble, L.-O., Wahl, F.M.: Demonstration of multi-sensor integration in industrial manipulation (video). In: Proc. of the IEEE International Conference on Robotics and Automation, Orlando, FL, USA (2006)
Author information
Authors and Affiliations
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2010 Springer-Verlag Berlin Heidelberg
About this chapter
Cite this chapter
Kröger, T., Finkemeyer, B., Wahl, F.M. (2010). Manipulation Primitives — A Universal Interface between Sensor-Based Motion Control and Robot Programming. In: Schütz, D., Wahl, F.M. (eds) Robotic Systems for Handling and Assembly. Springer Tracts in Advanced Robotics, vol 67. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-16785-0_17
Download citation
DOI: https://doi.org/10.1007/978-3-642-16785-0_17
Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-642-16784-3
Online ISBN: 978-3-642-16785-0
eBook Packages: EngineeringEngineering (R0)