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4.5 Client/Server Separation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 35 4.5.1 Validity of TF Data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 36 4.5.2 Specification of the Communication Object . . . . . . . . . . . . . . . . . . 38 4.6 Constructing TF Systems . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 39 4.6.1 System Modelling . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 39 4.6.2 Calculating the Quality of a Joint . . . . . . . . . . . . . . . . . . . . . . . 41 4.6.3 Calculating the Quality of a Transformation Chain . . . . . . . . . . . . . . 43 5 Results 49 5.1 Simulation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 50 5.2 Discussion of the Results . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 52 6 Summary and Future Work 55 6.1 Summary . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 55 6.2 Future Work . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 55 viii
Chapter 1 Introduction 1.1 Introduction and Motivation Today, service robotic systems consist of an increasing number of sensors and actuators. Thus for example, the state-of-the-art robot Asimo has 34 DOFs and the PR2 has about 24 DOFs depending on the equipment (see Figure 1.1). Further these robots have lots of different sensors like laser rangers, stereo cameras, accelerometers, microphones, pressure sensors and so on. Each of these actuators and sensors define an own coordinate frame. Thus it gets obvious that a modern robot is a complex system where many different coordinate frames have to be handled. The difficulty is not the number of different coordinate frames, but that data has to be transformed between these coordinate frames. One well known example where such a transformation is needed is collision avoidance. There a laser scan, captured in the laser frame, has to be transformed into the base frame, so that the algorithm knows where the obstacles are relative to the robot base. There are many other examples where coordinate transformations are needed. In general it can be said, that in almost any case where sensor data is processed a transformation is needed. (a) Asimo from Honda. [12] (b) PR2 from Willow Garage. [9] (c) Care-O-Bot from Fraunhofer IPA. [15] Figure 1.1: Three state-of-the-art robots. 1
Page 1: Managing Coordinate Frame Transform
Page 5: Abstract Autonomous mobile robots i
Page 9: Contents 1 Introduction 1 1.1 Intro
Page 13 and 14: 1.2. OVERVIEW OF THE TRANSFORMATION
Page 15 and 16: Chapter 2 Related Work This chapter
Page 17 and 18: 2.2. COMPONENT-BASED ROBOTIC MIDDLE
Page 19 and 20: Chapter 3 Fundamentals In this chap
Page 21 and 22: 3.2. TRANSFORMATIONS 11 This transl
Page 23 and 24: 3.2. TRANSFORMATIONS 13 the popular
Page 25 and 26: 3.3. TIME SYNCHRONIZATION 15 3.3 Ti
Page 27 and 28: 3.3. TIME SYNCHRONIZATION 17 Master
Page 29 and 30: Chapter 4 Method At the beginning o
Page 31 and 32: 4.1. USE CASES 21 (a) Tilting plana
Page 33 and 34: 4.2. ANALYSIS OF REQUIREMENTS 23 To
Page 35 and 36: 4.3. ABSTRACT SYSTEM DESCRIPTION 25
Page 37 and 38: 4.3. ABSTRACT SYSTEM DESCRIPTION 27
Page 39 and 40: 4.4. QUALITY OF TRANSFORMATIONS 29
Page 45 and 46: 4.5. CLIENT/SERVER SEPARATION 35 va
Page 47 and 48: 4.5. CLIENT/SERVER SEPARATION 37 Da
Page 49 and 50: 4.6. CONSTRUCTING TF SYSTEMS 39 val
Page 51 and 52: 4.6. CONSTRUCTING TF SYSTEMS 41 bas
Page 53 and 54: 4.6. CONSTRUCTING TF SYSTEMS 43 1.8
Page 55 and 56: 4.6. CONSTRUCTING TF SYSTEMS 45 •
Page 57 and 58: tilt_frame sensor_frame 4.6. CONSTR
Page 59 and 60: Chapter 5 Results To better examine
Page 61 and 62:
5.1. SIMULATION 51 • the torso_fr
Page 63 and 64:
5.2. DISCUSSION OF THE RESULTS 53 l
Page 65 and 66:
Chapter 6 Summary and Future Work 6
Page 67 and 68:
List of Figures 1.1 Three state-of-
Page 69 and 70:
List of Tables 3.1 Comparison of ma
Page 71 and 72:
Bibliography [1] N. Ando et al. “
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