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1999 Information, Decision and control, IDC 1999

作者： Galkowski, K. Rogers, E. Gramacki, A. Gramacki, J. Owens, D.H. Technical University of Zielona Gora Institute of Robotics and Software Engineering Zielona Gora Poland University of Southampton Image Speech and Intelligent Systems Research Group Department of Electronics and Computer Science SouthamptonSO17 lBJ United Kingdom University of Exeter Centre for Systems and Control Engineering School of Engineering ExeterEX4 4QF United Kingdom

ISBN: (纸本)0780352564

Repetitive, or multipass, processes are a class of 2D systems of both practical and algorithmic/theoretical interest whose dynamics cannot be analysed or controlled using standard (1D) systems theory. Recently it has been shown that the modelling of the boundary conditions, also known as the process initial conditions, is a crucial feature in the analysis and control of these processes. This paper presents some further results on the effects of so-called 'dynamic' process initial conditions on the controllability and stability properties of discrete linear repetitive processes. Previous work has shown that these dynamic process initial conditions alone can destroy the stability properties of these processes. Hence their effects must be 'adequately' accounted for the process modelling stage in order to ensure that subsequent analysis does not lead to incorrect results/conclusions. The main results developed in this paper can be summarised as follows. (i) Computationally efficient stability tests which can, in effect, be applied using standard, or 1D, linear systems tests. (ii) Characterisation of so-called pass controllability in the form of matrix rank based conditions. (iii) Conditions under which the dynamic process initial conditions can be selected to ensure stability and pass controllability. © 1999 IEEE.

关键词： controllability

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Dynamic process initial conditions in repetitive processes. controllability and stability analysis

Dynamic process initial conditions in repetitive processes. ...

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Information, Decision and control (IDC)

作者： K. Galkowski E. Rogers A. Gramacki J. Gramacki D.H. Owens Institute of Robotics and Software Engineering Technical University of Zielona Góra Zielona Gora Poland Department of Electronics and Computer Science Image Speech and Intelligent Systems Research Group University of Southampton Southampton UK Institute of Computer Engineering and Electronics Technical University of Zielona Góra Zielona Gora Poland School of Engineering Centre for Systems and Control Engineering University of Exeter Exeter UK

关键词： Stability controllability System testing control system analysis Algorithm design and analysis control systems Boundary conditions process control Standards development Linear systems

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control system for motion control of a piezoelectric micromanipulation robot

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Advanced robotics 1998年第6期13卷 577-589页

作者： Santa, Karoly Fatikow, Sergej Department for Computer Science Institute for Process Control and Robotics University of Karlsruhe Karlsruhe 76128 Kaiserstrasse 12 Germany

Abstraet-Micromanipulation by microrobots has become an issue of primary importance in industry and biomedicine, since human manual capabilities are restricted to certain tolerances. The manipulation of biological cells or the assembly of a microsystem composed of several microcomponentsare good examples. An automated microrobot-based micromanipulation desktop station has been developed at the University of Karlsruhe. The process of assembly takes place in the field of view of a light optical microscope. This paper focuses on motion control problems of the piezo-driven microrobotsemployed by the station. The ability to adapt itself to the process requirements is of great importance for micromanipulation robots. They must be able to operate in a partially defined environment and to ensure reasonable behavior in unpredicted situations. A neural control concept basedon a reference model is proposed as a solution. It is shown that the neural controller is able to learn the desired behavior. It considerably outperforms an analytically designed linear controller in the real environment. © 1998 Taylor & Francis Group, LLC.

关键词： control system Micromanipulation Microrobots MRAC-method Neural network

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Propagation of Action Knowledge in Multi-Agent Systems

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IFAC Proceedings Volumes 1998年第15期31卷 601-606页

作者： H. Friedrich O. Rogalla R. Dillmann Institute for Process-Control and Robotics Department for Computer Science University of Karlsruhe

Currently, an inportant topic in robotic reasearch systems is the design and development of learning Multi-Agent Systems ( MAS ). One major advantage of these systems is the fact that several agent work towards a common goal, having different specializations for specific subtasks. Especially learning MAS in cooperation with a human teacher seem to be a very promising approach for complex manipulation and production tasks. Since agents can join and leave the system at any time, it is important that knowledge acquired by single agents can be transferred or propagated between agents, to ensure that knowledge is not lost, if agents leave the system. Therefore, techniques will be presented to represent extentable action knowledge for task solutions in an agent's knowledge base and additionally, algorithms for propagating this knowledge between agents efficiently and with minimum communication effort.

关键词： Multi-Agent Systems Learning Knowledge-Representation

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Range image registration for free-form surfaces using curvature information as invariance 9

Range image registration for free-form surfaces using curvat...

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9th European Signal processing Conference, EUSIPCO 1998

作者： Rieder, Markus Guir, Nicolas Dillmann, R. Department for Computer Science Institute for Real-Time Computer Control Systems and Robotics University of Karlsruhe Karlsruhe76128 Germany Department of Computer Architecture University of Malaga Malaga Spain

A curvature based technique for fast range image registration is described in this work. With this technique the rotation and the displacement of a surface with respect to another one is calculated. The proposed algorithm uses Gaussian curvature information from each image point to extract a number of feature points. Two bounds are applied to the curvature values. Points with these bound curvature value are classified into two classes of feature points. In order to calculate the rotation angle between the two range images, the feature points are paired. That means the angle and the distance of the point pairs have to be transformed into a general view coordinate system. In the orientation matching procedure, we compare each pairing in the first image with each possible in the second one. This process is independent of the translation calculation which is calculated in a sequencing step. This pipelining principle speeds up the registration process if correspondences are calculated constantly.

关键词： Image registration

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Development of a neural controller for motion control of a piezoelectric three-legged micromanipulation robot

Development of a neural controller for motion control of a p...

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IEEE International Workshop on Intelligent Robots and Systems (IROS)

作者： K. Santa S. Fatikow Department for Computer Science Institute for Process Control and Robotics University of Karlsruhe Karlsruhe Germany

Micromanipulation by microrobots has become an issue of primary importance in industry and biomedicine, since human manual capabilities are restricted to certain tolerances. The manipulation of biological cells or the assembly of a microsystem composed of several microcomponents are good examples. An automated microrobot-based micromanipulation desktop station has been developed at the University of Karlsruhe. The process of assembly takes place in the field of view of a light optical microscope. This paper focuses on motion control problems of the piezo-driven microrobots employed by the station. The ability to adapt itself to the process requirements is of great importance for micromanipulation robots. They must be able to operate in a partially defined environment and to ensure reasonable behaviour in unpredicted situations. A neural control concept based on a reference model is proposed as a solution. It is shown, that the neural controller is able to learn the desired behaviour. It considerably outperforms an analytically designed linear controller in the real environment.

关键词： Motion control Automatic control Mobile robots Service robots process control Optical microscopy Glass Robot sensing systems Leg computer science

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Sensor system for controlling a multifingered gripper on a robot arm

Sensor system for controlling a multifingered gripper on a r...

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Proceedings. 1998 IEEE/RSJ International Conference on Intelligent Robots and Systems. Innovations in Theory, Practice and Applications (Cat. No.98CH36190)

作者： Th. Fischer Department of Computer Science Institute for Process Control and Robotics University of Karlsruhe Karlsruhe Germany

In the last few years different multifingered grippers have been developed and a lot of research work has been done in the field of grasping and manipulating objects with such grippers. With the help of fingers it is possible to grasp different objects with different shapes without having to change the gripper. To use a multifingered gripper in industrial applications it has to be mounted on another robot to enhance the working space. In the paper the requirements of a multifingered gripper on a robot arm in a manipulation station are discussed, with particular attention given to one part of the sensor system: the object state sensor. This sensor provides the control system with information about the object to be grasped.

关键词： Sensor systems control systems Grippers Robot sensing systems Fingers Orbital robotics Service robots Shape Aerospace industry computer science

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Dynamically shared control in human-robot teams through physical interactions

Dynamically shared control in human-robot teams through phys...

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IEEE International Workshop on Intelligent Robots and Systems (IROS)

作者： T. Hoeniger Department of Computer Science Institute for Process Control and Robotics University of Karlsruhe Karlsruhe Germany

An intelligent robot control scheme is presented which enables a cooperative work of humans and robots through direct contact interaction in a partially known environment. The control of the degrees of freedom of the manipulator is shared through a hybrid controller between the operator and the intelligent control system. The allocation of the control among human and robot occurs dynamically according to the state of the task execution and the capabilities of the human and the robot. Experiments were conducted to prove the effectiveness of our concept.

关键词： Intelligent robots Service robots Human robot interaction Medical robotics control systems Manipulators Intelligent control Robot sensing systems Cognitive robotics Uncertainty

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On-line path planning by heuristic hierarchical search

On-line path planning by heuristic hierarchical search

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Annual Conference of Industrial Electronics Society

作者： D. Henrich C. Wurll H. Worn Institute for Process Control and Robotics (IPR) Computer Science Department University of Karlsruhe Karlsruhe Germany

In this paper, the problem of path planning for robot manipulators with six degrees of freedom in an on-line provided three-dimensional environment is investigated. As a basic approach, the best-first algorithm is used to search in the implicit discrete configuration space. Collisions are detected in the Cartesian workspace by hierarchical distance computation based on the given CAD model. The basic approach is extended by three simple mechanisms and results in a heuristic hierarchical search. This is done by adjusting the stepsize of the search to the distance between the robot and the obstacles. As a first step, we show encouraging experimental results with two degrees of freedom for five typical benchmark problems.

关键词： Path planning Service robots Orbital robotics Robotic assembly Computational geometry Motion planning process control Intellectual property computer science Manipulators

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6 DOF path planning in dynamic environments-a parallel online approach

6 DOF path planning in dynamic environments-a parallel onlin...

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IEEE International Conference on robotics and Automation (ICRA)

作者： D. Henrich C. Wurll H. Worn Institute for Process Control and Robotics (IPR) Computer Science Department University of karlsruhe Karlsruhe Germany

Presents an approach to parallel path planning for industrial robot arms with six degrees of freedom in an online given 3D environment. The method is based a best-first search algorithm and needs no essential off-line computations. The algorithm works in an implicitly discrete configuration space. Collisions are detected in the Cartesian workspace by hierarchical distance computation based on polyhedral models of the robot and the obstacles. By decomposing the 6D configuration space into hypercubes and cyclically mapping them onto multiple processing units, a good load distribution can be achieved. We have implemented the parallel path planner on a workstation cluster with 9 PCs and tested the planner for several benchmark environments. With optimal discretisation, the new approach usually shows very good speedups. In online provided environments with static obstacles, the parallel planning times are only a few seconds.

关键词： Path planning Orbital robotics Defense industry Service robots Parallel robots Manipulators Hypercubes Workstations Personal communication networks Testing

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