Master Thesis - Hochschule Bonn-Rhein-Sieg

More documents

Recommendations

Info

5. Algorithms Master Thesis Björn Ostermann page 92 of 126 a) b) c) d) e) f) Figure 65: Determining the reachable space
5. Algorithms Master Thesis Björn Ostermann page 93 of 126 From the intrusion map, shown in Figure 65a, the robot area is excluded. In Figure 65b the algorithm calculates a line from the centre of the robot’s base position to the first pixel on the border of the intrusion map. Along this line every pixel that is crossed by the line is checked for intrusion. If a pixel containing an intrusion is found, as well as when the border-pixel is reached, the algorithm stores that pixel as an unreachable pixel and the next border-pixel is tried to be reached (Figure 65c and d – stopped at the blue pixels). The algorithm checks each border-pixel once, until all border-pixels are checked, as shown in Figure 65e. From the remembered pixels in Figure 65e, the border of the reachable space is generated (Figure 65f) by drawing a closed line (borderline) through the remembered pixels. This borderline marks the first pixels that can not be reached. 5.5.4 Selection of significant part When the robot is moving from one point to another, not all of the reachable space is necessary to compute the collision free space, but only the part that is between the current robot position and the position of the goal. Therefore, in this algorithm: - The borderline is transformed from the camera’s coordinate system into the robot’s coordinate system. - The coordinates of the pixels of the borderline are transformed from Cartesian coordinate system to Polar coordinate system, the system of the robot’s axes. - The significant part of the borderline lying between the current robot’s angle and the goal position’s angle is selected. The first step in the selection algorithm, transforming the values of the borderline into the robot coordinate system, is achieved by applying the transformation matrix determined in chapter 5.5.2. There are problems that have to be solved before transforming the values: - It was observed during this thesis that in the outer regions of the acquired distance images the camera’s measurements sometimes wrongly show a very short distance. - The safety distance has to be dependant on the tool centre point’s height, since the robot can work directly below an intrusion, as long as the angle of the camera allows a clear separation (see Figure 66) of the robot and the intruding object. - The reverse of the second point is true as well, where a high position of the tool centre point casts a blind spot on intruding objects that are farther away in the horizontal direction but on a lower position.
Page 1 and 2:
Master Thesis ”Industrial jointed
Page 3 and 4:
Statutory Declaration Master Thesis
Page 5 and 6:
Contents Master Thesis Björn Oster
Page 7 and 8:
Master Thesis Björn Ostermann page
Page 9 and 10:
1. Introduction Master Thesis Björ
Page 11 and 12:
2. Overview on human-robot Master T
Page 13 and 14:
Page 15 and 16:
Page 17 and 18:
Page 19 and 20:
3. Hard- and software Master Thesis
Page 21 and 22:
Page 23 and 24:
Page 25 and 26:
Page 27 and 28:
Page 29 and 30:
Page 31 and 32:
Page 33 and 34:
4. Overall evading concept Master T
Page 35 and 36:
Page 37 and 38:
Page 39 and 40:
Page 41 and 42: 4. Overall evading concept Master T
Page 59 and 60: 5. Algorithms Master Thesis Björn
Page 91: 5. Algorithms Master Thesis Björn
Page 101 and 102: 6. Evaluating the safety Master The
Page 115 and 116: 7. Conclusion and Outlook Master Th
Page 117 and 118: 7. Conclusion and Outlook Master Th
Page 119 and 120: 8. Bibliography Master Thesis Björ
Page 121 and 122: 8. Bibliography Master Thesis Björ
Page 123 and 124: 9. List of Figures Master Thesis Bj
Page 125 and 126: 9. List of Figures Master Thesis Bj
show all

Master Thesis - Hochschule Bonn-Rhein-Sieg

You also want an ePaper? Increase the reach of your titles

Delete template?

Save as template?