On the foundation of an existing system for sensor data integration into robot controls, a concept for flexible multisensor fusion and integration is designed and implemented. By means of three applications of differe...
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ISBN:
(纸本)0780319338
On the foundation of an existing system for sensor data integration into robot controls, a concept for flexible multisensor fusion and integration is designed and implemented. By means of three applications of different complexities, the efficiency of the software system is demonstrated. The system consists of a hierarchic structure with three levels and can be divided into the two main modules: Control and Sensing. By configuration of the topology, the methods and parameters of these main modules, the user can easily adapt the system for different applications in production. Thus the expenditure for installation, setting up and conversion of the multisensor system is reduced to a minimum.
In many areas of the industrial production nowadays robots are put to use, requiring sensory abilities in an increasing extent. Application areas are mainly assembly, grinding and deburring technology and laser beam t...
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In many areas of the industrial production nowadays robots are put to use, requiring sensory abilities in an increasing extent. Application areas are mainly assembly, grinding and deburring technology and laser beam treatment. Starting from the diversity of the demands, a modular solution of the sensor data integration is presented. On the one hand it allows the processing of the sensor data by different chronological points of view, and on the other hand a fast processing by paralleling on transputers for particularly high requirements is possible. To ensure this, an appropriate distribution of the calculations by algorithms is necessary that can be carried out in parallel. Several procedures are examined more closely for their parallelability. An optimum distribution of the functions is supported by suitable software resources.
Automatically identifying burrs and planning robot trajectories for restive castings, geometrical and technological adaptation parallel to the process are tasks to be solved for flexible deburring automation. Conditio...
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sensor guided robots require, according to nonlinear characteristics of certain interaction processes between robot effector and object, appropriate robust control algorithms for the external sensory control loop. Thi...
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sensor guided robots require, according to nonlinear characteristics of certain interaction processes between robot effector and object, appropriate robust control algorithms for the external sensory control loop. This paper deals with a fuzzy controller which bases on linguistic production rules. Following the pattern of the suboptimal control method its structure is available in a large field of applications. Simulations and real time experiments concerning the contour tracking problem show, compared with a conventional PD-controller, the high tracking quality of the controller.
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