From 0228f031fff124fc8fddea0d4a836ae5979471f6 Mon Sep 17 00:00:00 2001 From: Matteo Anedda <matteo.anedda@mailbox.tu-dresden.de> Date: Thu, 11 Nov 2021 20:40:24 +0100 Subject: [PATCH] ... --- images/IM.png | Bin 0 -> 24285 bytes images/panda_sv.png | Bin 0 -> 60367 bytes images/panda_tv.png | Bin 0 -> 37783 bytes sections/evaluation.tex | 14 ++++++++++++ sections/grundlagen.tex | 43 +++++++++++++++++++++++++++++++---- sections/implementierung.tex | 4 ++-- sections/install.tex | 9 -------- sections/konzept.tex | 8 +++---- thesis.tex | 4 ++-- 9 files changed, 60 insertions(+), 22 deletions(-) create mode 100644 images/IM.png create mode 100644 images/panda_sv.png create mode 100644 images/panda_tv.png create mode 100644 sections/evaluation.tex delete mode 100644 sections/install.tex diff --git a/images/IM.png b/images/IM.png new file mode 100644 index 0000000000000000000000000000000000000000..ede39ebac1a468299ed4e9027c5cb298d59b5083 GIT binary patch literal 24285 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Multi-Roboter Arbeitsräume anhand eines Fallbeispiels, erfolgt in diesem Kapitel die Evaluierung anhand der formulierten Anforderungen im Kapitel 'Grundlagen'. Die Leistung und Effizienz von Multi-Roboter, Analog zu Single-Roboter Arbeitsräumen, ist anhand spezifischer zeitlicher Kriterien bemessen. Zu diesen Kriterien gehören: + +\begin{enumerate} + \item Zeit zur erfolgreichen Termination der definierten Aufgabe + \item Welchen Einfluss hat die Modifikation spezieller Aspekte der Szene, wie beispielsweise durch das Hinzufügen und entfernen eines Roboters, auf die Zeit. +\end{enumerate} + +Anhand einer festen Aufgabebeschreibung erfolgt eine Gegenüberstellung dieser Kriterien bezogen auf dessen Ausführung durch ein robotisches Systeme in einem Arbeitsraum. Der Hauptaspekt dieser wissenschaftlichen Arbeit ist die automatische Konstruktion, welche anhand der Implementierung des Algorithmus zur Kalkulation der Positionen robotischer Systeme hinsichtlich einer zu operierenden Aufgabe erfolgt. Die Komplexität dieser Implementierung hat zusätzlich Auswirkungen auf die Zeit, welche ebenfalls in dieser Evaluation berücksichtigt werden. Aus dieser Überlegung ergeben sich folgende zusätzliche Kriterien + +\begin{enumerate} + \item Zeit zur Kalkulation aller Roboterpositionen + \item Welchen zeitlichen Einfluss hat die Modifikation der Aufgabenbeschreibung, wie beispielsweise durch das Hinzufügen und entfernen spezifischer Kettenglieder der Operationskette oder +\end{enumerate} \ No newline at end of file diff --git a/sections/grundlagen.tex b/sections/grundlagen.tex index fe634fc..0a4b6d1 100644 --- a/sections/grundlagen.tex +++ b/sections/grundlagen.tex @@ -37,7 +37,7 @@ Eine Orientierung wird durch Rotationen $R$ dargestellt, die auf einen Körper a \begin{figure}[ht] \includegraphics[width = 4cm, height = 4cm]{images/RPY.png} -\caption{fig: Roll-Pitch-Yaw beziehungsweise Roll-, Nick- und Gier- Winkel an einem Flugzeug demonstriert.} +\caption{Roll-Pitch-Yaw beziehungsweise Roll-, Nick- und Gier- Winkel an einem Flugzeug demonstriert.} \label{fig:1} \end{figure} @@ -100,13 +100,13 @@ Die Komposition aus Transformationen verschiedener Frames wird in Gleichung \aut ^{k}T_{i} = ^{k}T_{j} \times ^{j}T_{i} \end{equation} -Für die kinematische Kette eines robotischen Systems bestehenden aus $n \in \N$ Festkörpern, wobei $Frame_{n} = Frame_{Endeff}$ das Frame des Endeffektors ist, gilt \autoref{eq:6}, welche ein Beispiel für $n=6$ zeigt. Im Kontext dieser Arbeit bedeutet diese Gleichung, dass für jede vom Roboter erreichbare Endeffektor-Pose relativ zu $Frame_{0}$ eine solche Kette aus Transformationen existiert, welche jeweils die Pose eines Festkörpers des Roboters repräsentieren \cite[26f.]{Siciliano2016}. +Für die kinematische Kette eines robotischen Systems bestehenden aus $n \in \N$ Festkörpern, wobei $Frame_{n} = Frame_{Endeff}$ das Frame des Endeffektors ist, gilt \autoref{eq:6}, welche ein Beispiel für $n=8$ zeigt. Im Kontext dieser Arbeit bedeutet diese Gleichung, dass für jede vom Roboter erreichbare Endeffektor-Pose relativ zu $Frame_{0}$ eine solche Kette aus Transformationen existiert, welche jeweils die Pose eines Festkörpers des Roboters repräsentieren \cite[26f.]{Siciliano2016}. \begin{equation} \label{eq:6} \begin{split} ^{n}T_{0} &= {\displaystyle \prod_{i=0}^{n}}^{n-i}T_{i} \\ - &= ^{0}T_{1} \times ^{1}T_{2} \times ^{2}T_{3} \times ^{3}T_{4} \times ^{4}T_{5} \times ^{5}T_{6} + &= ^{0}T_{1} \times ^{1}T_{2} \times ^{2}T_{3} \times ^{3}T_{4} \times ^{4}T_{5} \times ^{5}T_{6} \times ^{6}T_{7} \times ^{7}T_{8} \end{split} \end{equation} @@ -117,11 +117,44 @@ In den Publikationen werden diese Darstellungen gleichgesetzt. Dieses Vorgehen h \subsection{reachability map} Reachability maps visualisieren die Erreichbarkeit durch den Endeffektor, ohne weitere Angaben hinsichtlich der Qualität. Demnach ist beispielsweise ein Objekt erreichbar, was aber nicht eine erfolgreiche Exekution impliziert, da der Endeffektor Möglicherweise eine der definierten Greifposen nicht einnehmen kann. Demnach enthält eine reachability map die Information darüber, dass der Endeffektor die Objektposition erreicht, aber nicht welche Posen Operiert werden können -Diese Abbildung ... zeigt eine solche Darstellung im Manual des Referenzroboters 'Panda' aus verschiedenen Perspektiven, um den Arbeitsbereich des Roboters in mehreren Dimensionen zu veranschaulichen. +Diese \autoref{fig:panda} zeigt eine solche Darstellung im Manual des Referenzroboters 'Panda' aus verschiedenen Perspektiven, um den Arbeitsbereich des Roboters in mehreren Dimensionen zu veranschaulichen. + +\ffigbox[\FBwidth]% + {\begin{subfloatrow}% + \ffigbox[\FBwidth]% + {\fbox{\includegraphics[width=0.47\textwidth, height = 5.5cm]{images/panda_tv.png}}}% + {\caption{Seitenansicht}\label{fig:SV}}% + \ffigbox[\FBwidth]% + {\fbox{\includegraphics[width=0.47\textwidth, height =5.5cm]{images/panda_sv.png}}}% + {\caption{Ansicht von oben}\label{fig:TV}}% + \end{subfloatrow}}% + {\caption{Illustration des Arbeitsraums eines Panda Roboters der Franka Emika GmbH aus unterschiedlichen Perspektiven. Alle Angaben sind in Millimeter bemessen.}\label{fig:panda}}% + \subsection{capability map} In capability maps werden zusätzliche Informationen über die Erreichbarkeit der Bereiche im Umfeld des Roboters mit Farben gekennzeichnet. Die Färbung basiert auf der Qualifizierung, welche durch die berechenbaren Endeffektor Posen im Bereich bestimmt wird. Beispielsweise ist die Farbe rot ein Indikator für schwer vom Roboter zugängliche Bereiche, während blau leichte Greifbarkeit suggeriert. %\cite{Reuleaux} \cite{zacharias2008positioning} +\section{ROS und das MoveIt} +ROS ist ein der Öffentlichkeit frei zugängliches Framework, welches auf Anwendungen bezüglich robotischer Systeme spezialisiert ist. Es ermöglicht beispielsweise die Kommunikation zwischen Robotern, Erfassung sensorischer Daten und deren Visualisierung in zusätzlichen Programmen. Dies wird durch die Initialisierung von Nodes realisiert, welche nach dem Event Listener Prinzip Informationen hinsichtlich eines spezifischen Themas publizieren oder durch das Abonniere des Themas empfangen. Pakete innerhalb eines Arbeitsraums im ROS Kontext Koordinieren die zugrundeliegenden Quelltexte der Nodes und dienen der Abstraktion implementierter Algorithmen. + +\subsection{Visualisierung in ROS} +RViz ist eine ROS Node zur Visualisierung von Informationen im 3 dimensionalen Raum und wird in dieser Arbeit zur Illustration spezifischer Aspekte der Implementierung genutzt. Zur Orientierung auf der grafischen Benutzeroberfläche dienst ein Gitter auf der horizontalen XY Ebene, dessen Kanten jeweils einen Meter voneinander distanziert sind. + +\subsubsection{Marker Elemente} +Primitive wie Würfel, Pfeile oder Sphären sind simple Marker Elemente, welche anhand Ihrer Position, Orientierung, Farbe und Dimension definiert sind und in RViz angezeigt werden können, um die Resultate der zugrundeliegenden Implementierung zu inspizieren. + +\subsubsection{Interaktive Marker Elemente} +Interaktive Marker Elemente erweitern die bereits präzisierten Marker um Interaktionsmöglichkeiten durch den Nutzer, wodurch Translationen und Rotationen auf beliebigen Achsen des Markers durch den Mauszeiger anwendbar sind. Zusätzlich kann jeder Marker ein eigenes Menü mit Untermenüs initialisieren. Diese Modifikationen werden durch zugrundeliegende visuelle Kontrollelemente des Markers und deren Kommunikation mit dem 'Interaktive Marker Server' realisiert. Jede Interaktion mit einer Instanz eines interaktiven Markers wird von RViz publiziert, der Server reagiert auf diese Nachricht mit der aktualisierten Position oder Orientierung des Markers. Zusätzlich ist die Implementierung weiterer Funktionen möglich, die als Reaktion auf über den Server kommuniziert werden sollen. + +\begin{figure}[ht] +\includegraphics[width = 0.47\textwidth, height = 4cm]{images/IM.png} +\caption{Darstellung der Kommunikation zwischen RViz und dem Interaktive Marker Server} +\label{fig:IM} +\end{figure} + +\subsection{kinematische Operationen in ROS} + + \section{Anforderungen automatischer kollaborativer Multi-Roboter Arbeitsplätze} -Marvel et al. adressiert die Skalierbarkeit, Synchronisierung der Roboter, Verteilung der spezifischen Aufgaben und Kollisionsvermeidung als grundlegende Aspekte der Planung eines Multi-Roboter Systems. Dabei ist die erfolgreiche Terminierung durch eine zuvor definierte valide Aufgabenbeschreibung trivial und wird daher vorausgesetzt. Offensichtlich stehen diese Aspekte in Wechselwirkung zueinander, denn operieren beispielsweise die Roboter sequentiell, so müssen die Aufgaben zwar bezüglich ihrer Erreichbarkeit durch den jeweiligen Endeffektor logisch Verteilt werden, unterliegen aber keiner komplexen Kollisionsdetektion, da der Arbeitsplatz statisch bleibt, indem sich die Szenerie nicht verändert. Sind Kollisionen während der Exekution nicht berechenbar, so ist die Verteilung der der Aufgaben essenziell für den Erfolg der auszuführenden Handlung. Die Skalierbarkeit, dessen Inhalt die Auswirkung des Inkrementierens operierender robotischer Systeme auf die tatsächliche Ausführungszeit ist, impliziert komplexere Kollisionskalkulationen durch eine vielfältigere, dynamische Szene \cite{Marvel2018}. Diese Aspekte sind zusätzlich abhängig von der Platzierung in der Domäne, welche die Generierung automatischer Multi-Roboter Arbeitsplätze ermöglicht und daher der Hauptaspekt dieser wissenschaftlichen Arbeit ist. +Marvel et al. adressieren die Skalierbarkeit, Synchronisierung der Roboter, Verteilung der spezifischen Aufgaben und Kollisionsvermeidung als grundlegende Aspekte der Planung eines Multi-Roboter Systems. Offensichtlich stehen diese Aspekte in Wechselwirkung zueinander, denn die Kollisionsdetektion ist beispielsweise vereinfacht, wenn die Exekution der Aufgaben sequentiell erfolgt und daher nur ein Roboter zeitgleich Bewegungen ausführt, dies impliziert zugleich eine weniger komplexe Aufgabenverteilung. Erfolgen die Handlungen der Roboter synchron, so ist die Verteilung der der Aufgaben essenziell für eine erfolgreiche Terminierung und dessen Ausführungszeit und bedingt eine komplexere Kollisionsdetektion. Änderungen der Szenerie, Beispielsweise durch die Hinzunahme oder Abnahme der Roboter, haben ebenfalls Auswirkungen auf die Ausführung beziehungsweise Kalkulationszeit, welche die Skalierbarkeit des Arbeitsraums konkretisiert.\cite{Marvel2018}. Diese Aspekte sind zusätzlich abhängig von der Platzierung in der Domäne, welche die Generierung automatischer Multi-Roboter Arbeitsplätze ermöglicht und daher der Hauptaspekt dieser wissenschaftlichen Arbeit ist. Also eigentlich kann ich hier alles aus Evaluation rein kopieren, das klingt zumindest besser. diff --git a/sections/implementierung.tex b/sections/implementierung.tex index a87709c..2b06e7a 100644 --- a/sections/implementierung.tex +++ b/sections/implementierung.tex @@ -92,8 +92,8 @@ for(int i = 1; i <= 2; i++) collision_detection::AllowedCollisionMatrix acm = ps.getAllowedCollisionMatrix(); for(int i = 1; i <= 2; i++){ - acm.setEntry("object" + std::to_string(i), "panda_" + std::to_string(i+1) + "_leftfinger", true); - acm.setEntry("object" + std::to_string(i), "panda_" + std::to_string(i+1) + "_rightfinger", true); + acm.setEntry("object" + std::to_string(i), "panda_" + std::to_string(i) + "_leftfinger", true); + acm.setEntry("object" + std::to_string(i), "panda_" + std::to_string(i) + "_rightfinger", true); } // Publikation der Aenderungen als Inhalt einer Planning Scene Nachricht diff --git a/sections/install.tex b/sections/install.tex deleted file mode 100644 index 3b4f83a..0000000 --- a/sections/install.tex +++ /dev/null @@ -1,9 +0,0 @@ -\subsection{Installation} -\textbf{Windows:} miktex - -\textbf{Linux:} texlive-full - -\textbf{GUI-Editor} texstudio - -Konfiguration vom Editor: Preferences > Build -* default compiler: \emph{latexmk} diff --git a/sections/konzept.tex b/sections/konzept.tex index 20af25b..b9b8c64 100644 --- a/sections/konzept.tex +++ b/sections/konzept.tex @@ -96,7 +96,7 @@ Eine weitere Vereinfachung stellt die Annahme dar, dass Objekte nicht von unten \end{equation} \subsubsection{Vereinfachte Komplexität} -Aus den Vereinfachungen bezüglich verschiedener Aspekte der Menge $OR_{total}$ und dessen zugrundeliegender sphärischer Diskretisierung, resultiert durch deren Anwendung in \autoref{eq:27} die zeitliche Komplexität $\mathcal{O}((\frac{2 \times q}{a})^{3} \times \frac{\vert S \vert}{2}$. +Aus den Vereinfachungen bezüglich verschiedener Aspekte der Menge $OR_{total}$ und dessen zugrundeliegender sphärischer Diskretisierung, resultiert durch deren Anwendung in \autoref{eq:27} die zeitliche Komplexität $\mathcal{O}((\frac{2 \times q}{a})^{3} \times \frac{\vert S \vert}{2})$. \begin{equation} \label{eq:27} @@ -142,9 +142,9 @@ Die Roboterbasis kann der Pose des ersten Festkörpers in Form der Transformatio ^{0}T_{Base} &= t \times ^{0}T_{Endeff} \\ ^{0}T_{Base} &= t \times ^{0}T_{1} \times ... ^{Endeff-1}T_{Endeff} \\ ^{0}T_{Base} &= t \times (^{0}T_{1} \times ... ^{Endeff-1}T_{Endeff})^{-1} \\ -^{0}T_{Base} &= ^{0}T_{Endeff} \times ^{Endeff}T_{Endeff-1} \times ... ^{Base}T_{0} \\ -^{0}T_{Base} &= ^{0}T_{Endeff} \times ^{Endeff}T_{Endeff-1} \times ... ^{2}T_{Base} \times 1 \\ -^{0}T_{Base} &= ^{0}T_{Endeff} \times ^{Endeff}T_{Endeff-1} \times ... ^{2}T_{Base} \\ +^{0}T_{Base} &= ^{0}T_{Endeff} \times ^{Endeff}T_{Endeff-1} \times ... \times ^{Base}T_{0} \\ +^{0}T_{Base} &= ^{0}T_{Endeff} \times ^{Endeff}T_{Endeff-1} \times ... \times ^{1}T_{Base} \times 1 \\ +^{0}T_{Base} &= ^{0}T_{Endeff} \times ^{Endeff}T_{Endeff-1} \times ... \times ^{1}T_{Base} \\ ^{0}T_{Base} &= ^{0}T_{Endeff} \times ^{Endeff}T_{Base} \\ ^{0}T_{Base} &= ^{0}T_{Base} \end{split} diff --git a/thesis.tex b/thesis.tex index 638b17c..14a198b 100644 --- a/thesis.tex +++ b/thesis.tex @@ -118,7 +118,7 @@ \author{Matteo Anedda} \emailaddress[]{matteo.anedda@mailbox.tu-dresden.de} \matriculationnumber{4732423} -\matriculationyear{2017/18} +\matriculationyear{2017} \dateofbirth{17.09.1997} \placeofbirth{Riesa} %\discipline{Distributed Systems Engineering} @@ -145,7 +145,7 @@ \input{sections/konzept.tex} \input{sections/fallbeispiel.tex} \input{sections/implementierung.tex} -% \input{sections/eval.tex} +\input{sections/evaluation.tex} % \input{sections/zusammenfassung.tex} \nocite{*} -- GitLab