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IEEE International Symposium on Electronics and the Environment

作者： A. Weigl Control Systems Theory and Robotics Department Darmstadt University of Technology Darmstadt Germany

For environmental and economical reasons future applications in automation may focus on robot assisted disassembly of a large variety of electronic products with the general aim to re-use valuable modules, sub-assemblies and components recovered from old products. This paper presents first activities, investigations and experiments in applying intelligent robots to autonomous disassembly of electronic products. In particular the structure of a flexible robot system, including suitable actuators and sensors is developed and disassembly difficulties which arose in the first experiments are analysed. As a representative example for electronic products a video camera recorder has been selected for practical disassembly experiments. The robot system used within this research work comprises a six-axes robot arm a three-fingered dexterous gripper, a two-jaw-gripper, a wrist force/torque-sensor and a multicamera imaging system.< >

关键词： robotics and automation Robot sensing systems Environmental economics Intelligent robots Actuators Intelligent sensors Sensor systems Robot vision systems Cameras Grippers

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A modular approach for solving the peg-in-hole problem with a multifingered gripper

A modular approach for solving the peg-in-hole problem with ...

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IEEE International Conference on robotics and Automation (ICRA)

作者： K. Kleinmann D.M. Bettenhausen M. Seitz Department of Control Systems Theory and Robotics Darmstadt University of Technology Darmstadt Germany

This paper discusses the peg-in-hole task performed by a system integrating a dextrous hand, a 6-DOF robot and a camera. It is shown how the starting conditions of the final insertion only performed by the fingers are affected by the previous stages. Based on the experimental findings, some criteria for the overall system design and the required manipulation capabilities of the gripper are derived. With respect to this performance evaluation a modular concept for solving insertion tasks with a multifingered gripper is presented. The object manipulation is realized by primitives which are executed in dependence on various assembly states. The implementation of this approach is described and beside a theoretical characterization, experimental results are given.

关键词： Grippers Fingers control systems Employment Robot sensing systems Automatic control robotics and automation Assembly Force measurement Robot vision systems

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Mobile robot localization using a selforganized visual environment representation

Mobile robot localization using a selforganized visual envir...

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Euromicro Workshop on Advanced Mobile Robot

作者： G. von Wichert Control Systems Theory & Robotics Department Darmstadt University of Technology Darmstadt Germany

Due to the upcoming applications in the field of service robotics mobile robots are currently receiving increasing attention in industry and the scientific community. Applications in the area of service robotics demand a high degree of system autonomy, which robots without learning capabilities will not be able to meet. Learning is required in the context of action models and appropriate perception procedures. Both are extremely difficult to acquire especially with high bandwidth sensors (e.g. video cameras) which are needed in the envisioned unstructured worlds. Self-localization is a basic requirement on mobile robots. This paper therefore proposes a new methodology for image based self-localization using a self-organized visual representation of the environment. It allows for the seamless integration of active and passive localization.

关键词： Mobile robots Layout Feature extraction Image segmentation Cameras Robustness Quantization Pixel Robot vision systems Orbital robotics

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Object manipulation by a multifingered gripper: on the transition from precision to power grasp

Object manipulation by a multifingered gripper: on the trans...

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IEEE International Conference on robotics and Automation (ICRA)

作者： K.P. Kleinmann J.-O. Hennig C. Ruhm H. Tolle Department of Control Systems Theory and Robotics Darmstadt University of Technology Darmstadt Germany

Whereas the emphasis of precision grasping only using the fingertips is placed on dexterity and sensitivity, power grasps guarantee high security and stability. But even if the task requires a power grasp, in the initial configuration the complete enveloping by the fingers is often impossible due to the position of the object in the workspace and only a fingertip grasp can be applied. Then a transition from precision to power grasping has to be performed. Based on an experimental study this paper discusses several possibilities to realize this transition by using a three-fingered dextrous hand mounted on a 6DOF robot. In particular it is distinguished between strategies requiring a coordination of robot and hand and strategies performing the transition only by the fingers like humans do.

关键词： Grippers Humans Fingers Grasping Medical robotics Robust stability control systems Robot sensing systems Power system security Humanoid robots

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Automatic transformation of simple user commands to hierarchical Petri nets

Automatic transformation of simple user commands to hierarch...

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IEEE International Conference on systems, Man and Cybernetics

作者： B. Strege H. Tolle H. Loydl Control Systems Theory and Robotics Department Technical University of Darmstadt Darmstadt Germany

Petri nets represent a highly effective tool for the development of control systems for flexible manufacturing cells (FMC) due to their graphical modeling technique, compact representation, the availability of mathematical analysis tools and the direct transformability to PLC (programmable logic controller) programs. Since FMC control systems are required to be modifiable by low-qualified operators on the shop floor and Petri nets are too complex for them, this paper describes a concept to overcome this problem; it is based on strategic commands and information about the manufacturing system which can be specified in object-oriented following the morphological concepts commonly used by the operators and are then automatically transformed to Petri nets. An example shows how the methodology works in practice.

关键词： Petri nets Programmable control control system synthesis Automatic control Flexible manufacturing systems Virtual manufacturing Object oriented modeling Mathematical model Availability Mathematical analysis

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Experimental Validation of a Self-Adjusting Active Compliance controller for Multiple Robots Handling an Object

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IFAC Proceedings Volumes 1998年第33期31卷 59-64页

作者： Christian von Albrichsfeld Henning Tolle Darmstadt University of Technology Institute of Control Engineering Department of Control Systems Theory & Robotics Landgraf-Georg-Strasse 4 D-64283 Darmstadt

This paper presents the experimental validation of a self-adjusting active compliance controller for n robots handling a concerning its compliant behaviour partly unknown flexible object. The control strategy is based on the decomposition of the 6n-dimensional position/force space and includes a feedforward and feedback level. For adjusting the controller to the in general unknown flexible behaviour, which is the main problem of the controller design. a quasi-static model of the system is derived for different contact cases of the object and a procedure is presented, which by use of this model is capable of determining the compliance of the considered system and therefore of adjusting the controller. Experiments with two pumatype robots show the applicability of the self-adjusting control strategy.

关键词： self-tuning control force-position control admittance control compliance control decoupling problems multi-arm robots intelligent control robot control

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On interpolation memories for learning control

On interpolation memories for learning control

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IEE Colloquium on Advances in Neural Networks for control and systems

作者： H. Tolle Institute of Control Engineering Department of Control systems Theory and Robotics Technical University of Darmstadt Darmstadt Germany

The paper deals with new developments of interpolating memories as the basic element of learning control and with their possible application. It discusses learning control, interpolating memories, characteristic manif... 详细信息

关键词： Interpolation Learning systems

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Generation of structured process models using genetic programming 3rd

Generation of structured process models using genetic progra...

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3rd Workshop on Artificial Intelligence and Simulation of Behaviour, AISB 1996

作者： Pohlheim, Hartmut Marenbaeh, Peter Daimler Benz AG Systems Technology Research Alt-Moabit 96a BerlinD-10559 Germany Darmstadt University of Technology Institute of Control Engineering Department of Systems Theory and Robotics Landgraf-Georg-Strare 4 DarmstadtD-64283 Germany

ISBN: (纸本)3540617493

The design of structured mathematical models of processes in a certain level of abstraction defined by the given task appears to be difficult and time consuming even for experienced experts. This paper reports on a new method for the design of structured process models based on the metaphor of Genetic Programming. This new methodology allows the automatic generation of non-linear process models in a self-organizing way. © Springer-Verlag Berlin Heidelberg 1996.

关键词： Genetic algorithms

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Capturing pyramidal-like objects

Capturing pyramidal-like objects

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IEEE International Conference on robotics and Automation (ICRA)

作者： M. Kaneko M. Kessler A. Weigl H. Tolle Control Systems Theory and Robotics Department Darmstadt University of Technology Germany Hiroshima University Japan

This paper discusses a grasp scheme for a pyramidal-like object placed on a table under the gravitational field. We assume that the contact friction is small enough to ensure that any direct grasp fails in achieving an equilibrium grasp. For an idealized 2D triangle object placed vertically on a table, we first show that a planar two-fingered hand can always achieve an equilibrium grasp under frictional contact. We also extend the basic idea to a polyhedron whose face is triangle and show two possible procedures leading to equilibrium grasps. Finally, we verify our idea experimentally for the polyhedra.

关键词： Fingers Friction Humans Robots Grasping Gravity Geometry Kinematics Interference

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Vision assisted disassembly using a dexterous hand-arm-system: An example and experimental results

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IFAC Proceedings Volumes 1994年第14期27卷 315-320页

作者： Alexandra Weigl Matthias Seitz Darmstadt University of Technology Department of Control Systems Theory and Robotics Landgraf-Georg-Str. 4 D-64283 Darmstadt Germany

Future applications in automation of non-destructive disassembly processes - necessary and important for re-use of components - require highly sensorized and dexterous robot systems. The main elements of the presented system are a disassembly sequence planner using special elementary disassembly operations, a redundant hand-arm-system with fifteen degrees of freedom supplied by a six-axes robot and a three-fingered gripper, and a vision system used for offline grasp and motion planning as well as for online supervision. Besides a description of the overall system structure and explanation of the underlying ideas for special disassembly operations, the presentation of first results and experiences from disassembling some parts of a video camera recorder will be one of the centred points to be discussed.

关键词： hand-arm-eye system grasp planning hand-arm-coordination disassembly vision

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