Emmerich, Christian: Efficient and intuitive teaching of redundant robots in task and configuration space. 2016
Inhalt
- Acknowledgment
- Abstract
- List of Figures
- Introduction
- Motivation: Flexible Production in Industry 4.0
- Problem Statement: Teaching of Redundant Robots is Difficult
- Contribution and Goal of Thesis
- Outline
- Kinesthetic Teaching of Redundant Robots in Confined Spaces
- Inverse Kinematics for Redundant Robots
- Kinesthetic Teaching as an Intuitive Programming Interface
- Proposed Method
- Kinesthetic Teaching of Redundancy Resolutions
- Hierarchical Control
- Assisted Programming in Task Space
- Implementation
- Discussion and Related Work
- Learning, Encoding and Generalizing Redundancy Resolutions
- Interaction Model
- Learning Redundancy Resolutions with Neural Networks
- Generalization Capabilities
- Task Space Accuracy vs. Null-space Constraints
- Number of Training Areas and the Reachable Workspace
- Model Selection and the Number of Training Samples
- Discussion of Results
- Teaching Redundancy Resolutions
- Interaction Model
- Teaching Implicit Constraints
- FlexIRob@Harting: Teaching Redundancy Resolutions
- General User Experience
- Illustration of Training Data for Different User Experiences
- Analysis of the Participants Teaching Success
- Quality of the Provided Training Data
- Discussion and Related Work
- Assisted Programming in Task Space
- Assistance Blending for Teaching Redundancy Resolutions
- Interaction Model
- Online Sequential Extreme Learning Machine
- Learning a Confidence Model from Training Data
- Discussion and Related Work
- Autonomous Path Planning in Confined Spaces
- Interaction Model
- Review: Instantaneous Topological Maps (ITM)
- Hybrid ITM with Connectivity Bootstrapping
- Results
- Discussion and Related Work
- Incremental Teaching of a Simulated 9-DoF manipulator
- Conclusion
- FlexIRob - A Flexible Interactive Robot Prototype
- System Overview
- The KUKA Lightweight Robot IV
- Implementation of Interaction Model
- Software Abstractions for Learning From Demonstrations
- Middleware
- FlexIRob@Harting - A User Study on pHRI
- Study Design and Interaction Model
- Questionnaire Design
- Data Assessment and Analysis
- Clustering of the Participants' Selected Redundancy Resolutions
- Related References by the Author
- References