Manipulating in the micro- or even nano world still poses a great challenge to robotics. Conventional (stationary) systems suffer from drawbacks regarding integration into process supervision and multi-robot approache...
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Manipulating in the micro- or even nano world still poses a great challenge to robotics. Conventional (stationary) systems suffer from drawbacks regarding integration into process supervision and multi-robot approaches, which become highly relevant to fight scaling effects. This paper describes work currently being carried out which aims to make automated manipulation of micrometer-scaled objects possible by robots with nanometer precision. The goal is to establish a small cluster of (up to five) micro robots equipped with on-board electronics, sensors and wireless power supply. Power autonomy has been reached using inductive energy transmission from an external wireless power supply system or a battery based system. Electronics requirements are fulfilled in the electronic module with the full custom integrated circuit design for the robot locomotion control and the closed loop force control for AFM tool in cell manipulation applications. The maximum velocity obtained is about 0.4 mm/s with a saw tooth voltage signals of 20Vpp and 2500 Hz. In order to keep a AFM tool on micro-robot a specific tip with integrated piezoresistance, inst.ad of the classical laser beam methodology, is validated for force measurement.
This paper presents a general approach to specify and execute complex robot tasks considering uncertain environments. Robot tasks are defined by a precise definition of so-called skill primitive nets, which are based ...
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This paper presents a general approach to specify and execute complex robot tasks considering uncertain environments. Robot tasks are defined by a precise definition of so-called skill primitive nets, which are based on Mason's hybrid force/velocity and position control concept, but it is not limited to force/velocity and position control. Two examples are given to illustrate the formally defined skill primitive nets. We evaluated the controller and the trajectory planner by several experiments. Skill primitives suite very well as interface to robot control systems. The presented hybrid control approach provides a modular, flexible, and robust system;stability is guaranteed, a particularly at transitions of two skill primitives. With the interface explained here, the results of compliance motion planning become possible to be examined in real work cells. We have implemented an algorithm to search for mating directions in up to three-dimensional configuration-spaces. Thereby, on one hand we have released compliant motion control concepts and on the other hand we can provide solutions for fine motion and assembly planning. This paper shows, how these two fields can be combined by the general concept of skill primitive nets introduced here, in order to establish a powerful system, which is able to automatically execute prior calculated assembly plans based on CAD-data in uncertain environments.
Giving an advice to a mobile robot still requires classical user interfaces. A more intuitive way of commanding can be provided by verbal or gesture commands. In this article, we present new approaches and enhancement...
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ISBN:
(纸本)0780365763
Giving an advice to a mobile robot still requires classical user interfaces. A more intuitive way of commanding can be provided by verbal or gesture commands. In this article, we present new approaches and enhancements for established methods that are in use in our laboratory. Our aim is to direct a robot with simple dynamic gestures. We focus on visual gesture recognition. Based on skin color segmentation algorithms for tracking the user's hand, hidden Markov models are used for gesture type recognition. The filters applied to the recorded trajectory strongly compress the input data. They also mark start and end point of a possible gesture. The hidden Markov models have been enhanced by a threshold model in order to wipe out insignificant movements. Pre-classification of the reference gestures serves for keeping computational effort low.
Service robots require interactive programming interfaces that allow users without programming experience to easily inst.uct the robots. Systems following the programming-by-demonstration (PbD) paradigm are getting cl...
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Service robots require interactive programming interfaces that allow users without programming experience to easily inst.uct the robots. Systems following the programming-by-demonstration (PbD) paradigm are getting closer to this goal. Visual observation of the user and environment is one important aspect for reasoning about goals and actions. With respect to the automatic generation of adaptive programs, a PbD-System should detect, classify and determine the pose of manipulable objects in a fast and stable way. This paper presents a comparison of four established methods proposing a new object classification approach that combines these methods. This gives a means for setting up a world model of a manipulations scene automatically and initializes active contour parameters in order to trade motions of these objects.
The many robot programming languages that have been developed can be subdivided into two main categories: high-level extensions like (M)RCCL [1,2], PasRo [3], ROPAS [4], or ZERO [5], and ''stand-alone''...
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The many robot programming languages that have been developed can be subdivided into two main categories: high-level extensions like (M)RCCL [1,2], PasRo [3], ROPAS [4], or ZERO [5], and ''stand-alone'' languages like AL, VAL, and AML. With increasing computational power and more and more complex industrial applications, further developments become necessary. Research is widespread concerning tools to implement different hybrid controllers or, today, development of high-level object-oriented robot programming interfaces. Zero++ offers a unique programming environment from control level up to high-level object-oriented application design. It is designed to be executed on multiprocessor-nets and supports full parallelism and basic dynamic processing. This enables Zero++ to, for example, simultaneously control several robots within one application or integrate several different sensors into robot control. This paper gives a brief overview of Zero++, with some aspects shown in more detail and applications given.
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