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TOPOLOGICAL TASK SPACE MODELING FOR PLANNING AUTONOMOUS SPACE ROBOT ACTIONS

control ENGINEERING PRACTICE 1995年第8期3卷 1095-1104页

作者： MATTHIESEN, J Control Systems Theory and Robotics Department Darmstadt Technical University Landgraf-Georg-Str. 4 D 64283 Darmstadt Germany

Future space robot generations will replace astronauts in deep space missions and routine operations. They will use tools, and perform assembly, disassembly and handling tasks for maintenance purposes. A key feature of autonomous, task-level commandable robots is a valid and complete representation of an application's task space for planning and optimizing a rough action sequence facing a sensorially classified situation. This paper shows such a representation for a robot-based automated material science experiment set-up. It proposes a method of analysis by which a valid and complete task space model can be obtained. Results of practical experiments with a terrestrial laboratory mock-up using the novel representation scheme are presented.

关键词： SPACE robotics AUTONOMOUS control MODEL-BASED TASK PLANNING

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Towards vision assisted space robotics: some examples and experimental results

Towards vision assisted space robotics: some examples and ex...

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IEEE International Workshop on Intelligent Robots and Systems (IROS)

作者： M. Seitz N. Hartwig J. Matthiesen Control Systems Theory and Robotics Department Darmstadt University of Technology Germany

Automatic handling, maintenance and repair procedures in orbital space applications will gain importance in the future. Lightweight space robots could be used for many of these tasks, provided they would be dexterous enough and more flexible in their perception of the working environment than the present ones. The employment of vision enables a robot to grasp, and manipulate inspected objects autonomously. The paper describes the interaction between robot, camera and a multisensory gripper for performance of local repair tasks, e.g. opening the jammed solar panel of a satellite, by 3D active inspection. Central points of interest have been the composition of information acquired from image sequences as well as the object localization in the robot work space and the supervision of grasping procedures. Besides a description of the system structure and the underlying ideas, experiences and results from terrestrial lab experiments are presented in order to discuss the limits and possibilities of the use of vision for space robotic tasks.

关键词： Orbital robotics Robot vision systems robotics and automation Employment Cameras Grippers Jamming Satellites Inspection Image sequences

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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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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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Analysis of constrained elastic manipulations

Analysis of constrained elastic manipulations

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IEEE International Workshop on Intelligent Robots and Systems (IROS)

作者： M.M. Svinin C. von Albrichsfeld Automation & Technical Physics Department Irkuksk Scientific Center Russian Academy of Science Irkutsk Russia Control System Theory and Robotics Department Darmstadt University of Technology Darmstadt Germany

In controlling manipulators interacting with the external environment, an important issue is the choice and construction of the Cartesian level control system. To effectively control the constrained manipulators, a knowledge of the resulting compliance of the system is required. In this paper a systematic analysis of the Cartesian stiffness and compliance matrices, which at full extent has not been undertaken in literature, is presented. A generalized model of a constrained flexible end-effector interacting with an elastic environment is developed on the basis of static and kinematic equations. The model developed is then applied to the case of several manipulators coupled through a common object.

关键词： control systems Level control Kinematics Equations

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BioX ++ - New Results and Conceptions Concerning the Intelligent control of Biotechnological Processes

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IFAC Proceedings Volumes 1995年第3期28卷 301-304页

作者： K.D. Bettenhausen S. Gehlen P. Marenbach H. Tolle Darmstadt University of Technology Institute of Control Engineering Department of Control Systems Theory & Robotics Landgraf-Georg-Strasse 4 D-64283 Darmstadt Germany Zentrum für Neuroinformatik GmbH Universitätastr. 160 D-44801 Bochum Germany

The artide at hand presents new results and conceptions concerning the intelligent and autonomous control of biotechnological procces by integrating conventional, knowledge-based and learning methods. The extended system BioX ++ facilitates the transparent generation of process control strategies and sequences based on automatically self-organized structured proces· models. Experimental results showing the increased product yield and the discussion of approach-specific problems are part of this paper as well as the new approaches actually examined.

关键词： Expert systems neural networks fuzzy systems learning control fermentation processes biotechnology genetic algorithms

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APPLICATIONS OF THE FUZZY-LOGIC IN AUTOMATED ROBOTIC DEBURRING

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FUZZY SETS AND SYSTEMS 1994年第3期63卷 293-305页

作者： LIU, MH WIENAND, S Department of Control Engineering Control System Theory & Robotics Group Technical University of Darmstadt Darmstadt Germany

Some applications of the fuzzy logic in the automated robotic deburring are described. Main motivations for these applications are (1) the unpredictability of positional inaccuracies and variations of buff sizes, which are difficult to measure;and (2) the nonlinear and complex behaviour of the deburring process. For a passive deburring strategy the fuzzy logic is used to supervise positional inaccuracies, to directly process disturbed force/torque measurements to avoid time delays, and to adjust controller parameters according to working conditions. For an active deburring strategy a fuzzy man-machine interface is built to take the advantage of utilizing operator's knowledges about buff characteristics, and a fuzzy modeling algorithm is developed to get the input-output relationship of, and to extract qualitative understanding about the deburring process. Some experimental results are presented.

关键词： DEBURRING FORCE control FUZZY LOGIC LINGUISTIC MODELING MAN-MACHINE INTERFACE ROBOTS

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Some approaches to context based grasp planning for a multi-fingered gripper

Some approaches to context based grasp planning for a multi-...

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IEEE International Workshop on Intelligent Robots and Systems (IROS)

作者： M. Seitz J. Kraft Control Systems Theory & Robotics Department Darmstadt University of Technology Germany

Dexterous manipulations of a-priori unknown objects by a multi-fingered gripper require a vision assisted planning of suitable grasps. The selection of the optimum grasp is based on context information specifying the goal of manipulation given by the user, constraints due to the gripper geometry and object properties to be perceived by a vision system. The integration of vision into a hand-arm system allows planning and performance for grasping even unregularly shaped objects. The paper presents a context level for classification of specific grasp situations and a planning level for determination of gripping positions and forces. Especially strategies searching for suitable contact points for the gripper are discussed and compared to each other.< >

关键词： Grippers Shape Information geometry Robotic assembly Technology planning Robots Machine vision Power system modeling Intelligent sensors Fingers

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On a selftuning decoupling controller for the joint control of a tendon driven multifingered robot gripper

On a selftuning decoupling controller for the joint control ...

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IEEE International Workshop on Intelligent Robots and Systems (IROS)

作者： K. Kleinmann R. Wacker Control Systems Theory and Robotics Department Darmstadt University of Technology Germany

This paper discusses couplings between the joints observed during position control using a tendon driven multifingered robot gripper. Depending on the mechanical construction these effects are non-linear and time variant as a consequence of friction and cable tension. Because the quality of the joint control is an important prerequisite for stable grasping, its design has to consider these coupling effects, generally using linear models. Therefore, the paper proposes a selftuning system which performs an iterative identification of a decoupling controller. The controller is stored in a CMAC-based neural network, so it can realize a non-linear decoupling. The authors present experimental results obtained by this method in comparison with a conventional approach.< >

关键词： Tendons Robots Grippers Pulleys control systems Torque control Mechanical cables Fingers Couplings Learning systems

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Requirements for robot assisted disassembly of not appropriately designed electronic products: lessons from first studies

Requirements for robot assisted disassembly of not appropria...

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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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