The paper is based on a path planning approach for industrial robot arms with 6 degrees of freedom in an online given 3D environment. It has online capabilities by searching in an implicit and discrete configuration s...
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The paper is based on a path planning approach for industrial robot arms with 6 degrees of freedom in an online given 3D environment. It has online capabilities by searching in an implicit and discrete configuration space and detecting collisions in the Cartesian workspace by distance computation based on the given CAD model. Here, we present different methods for specifying the C-space discretization. Besides the usual uniform and heuristic discretization, we investigate two versions of an optimal discretization for a user-predefined Cartesian resolution. The different methods are experimentally evaluated. Additionally, we provide a set of 3-dimensional benchmark problems for a fair comparison of the path planner. For each benchmark, the run-times of our planner are between only 3 and 100 seconds on a Pentium PC with 133 MHz.
In the scanning electron microscope, many studies require micromanipulation tools that can be flexibly and comfortably used for the handling and positioning of objects ranging from a few millimeters down to fractions ...
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ISBN:
(纸本)0780365763
In the scanning electron microscope, many studies require micromanipulation tools that can be flexibly and comfortably used for the handling and positioning of objects ranging from a few millimeters down to fractions of microns. In the paper, some aspects of the control of small mobile microrobots by teleoperation are addressed facing the special behavior of their piezoelectric actuators and the challenge of handling tasks in ranges of very different orders of magnitude (100 nm-100 mm). In order to give the teleoperated tweezers a kind of low-level "intelligence", a control loop using the SEM as a sensor system is being developed. In different open-loop handling experiments, the employed 6D-mouse proves satisfactory as an intuitive user interface.
This paper presents an opportunity to create a linear discrete system (LDS) with a modal state controller for Single Input Single Output objects control. The created controller has an integrating element and a relatio...
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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 use...
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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.
Concerning the robustness of mobile robot navigation, global self-localization is a key feature for many service applications. In this paper we describe an efficient Bayesian approach for hybrid topological/metric nav...
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Concerning the robustness of mobile robot navigation, global self-localization is a key feature for many service applications. In this paper we describe an efficient Bayesian approach for hybrid topological/metric navigation, which is designed to exploit information from multiple sources of sensor data. Experiments with a combination of odometry/laserscans/computer vision show the system was able to generate initial position hypotheses, to cope with environmental ambiguities and to recover from severe position errors.
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...
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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.
The problem of analysing a bed bound patient (that is, a patient who is confined to their bed) is a relevant factor in whether or not they will receive timely medical care. This paper aims to investigate the challenge...
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作者:
K.-W. JörgUniversity of Kaiserslautern
Robotics and Process Control Research Group Computer Science Department PO Box 3049 67653 Kaiserslautern Germany
Hybrid models combine different technologies to obtain a product that shares their advantages and minimizes their deficiencies. The solutions given by a case-based system (CBS) rely on similar past experiences, which ...
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Hybrid models combine different technologies to obtain a product that shares their advantages and minimizes their deficiencies. The solutions given by a case-based system (CBS) rely on similar past experiences, which are commonly described in terms of both symbolic and continuous attributes. The nearest neighbor (NN) principle commonly followed to develop CBS for classification task proceeds from the assumption that similar cases have similar solutions, having the definition of the distance (similarity) function a central attention for obtaining a good accuracy on a given data set. This paper presents a hybrid model to solve classification tasks using NN principle but including generalized knowledge from the set of given instances to improve the performance in contrast to pure lazy learning algorithms. The fuzzy case-based system, referred as FuCiuS, interprets predictive numeric attributes in terms of fuzzy sets defining in a conceptually uniform way a one-dimensional (local) criterion to compare mixed and missing data. Experimental analysis show good performance for FuCiuS in comparison with well-known classifiers on missing and noisy data, while a more natural framework to include expert knowledge by using linguistic is provided guaranteeing both robustness and interpretable solutions.
Vision-based motion control of an autonomous vehicle operating in real world requires fast image processing and robustness with respect to noisy sensor readings and with respect to varying illumination conditions. In ...
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