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Interactive generation of flexible robot programs

Interactive generation of flexible robot programs

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IEEE International Conference on robotics and Automation (ICRA)

作者： H. Friedrich J. Holle R. Dillmann Inst. for Real-Time Comput. Syst. & Robotics Karlsruhe Univ. Germany Institute for Real-Time Computer Systems & Robotics University of Karlsruhe Karlsruhe Germany

Service robots require interactive programming interfaces that allow users without programming experience to easily inst.uct the robots. syst.ms following the programming by demonstration (PbD) paradigm that were developed within the last years are getting closer to this goal. However, most of these syst.ms lack the possibility for the user to supervise and alter the course of program generation after the initial demonstration was performed. In this paper we present an approach, where the user is able to supervise the entire program generation process and to annotate, and edit syst.m hypotheses. Moreover, the knowledge representation and algorithms presented enable the user to generalize the generated program by annotating conditions and object selection criteria via a 3D simulation and graphical user interface. The resulting PbD-syst.m widens the PbD approach in robotics to the interactive generation of flexible robot programs based on demonstration and annotations.

关键词： Programming profession Robot programming Service robots Sensor phenomena and characterization Sensor syst.ms real time syst.ms Knowledge representation Graphical user interfaces Manipulators Educational programs

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3D-icon based user interaction for robot programming by demonstration

3D-icon based user interaction for robot programming by demo...

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IEEE International Symposium on comput.tional Intelligence in robotics and Automation (CIRA)

作者： H. Friedrich H. Hofmann R. Dillmann Inst. for Real-Time Comput. Syst. & Robotics Karlsruhe Univ. Germany Institute for Real-Time Computer Systems & Robotics IPR University of Karlsruhe Karlsruhe Germany

Within the last years the programming by demonstration (PbD) programming methodology gained more and more attention in robotics. However, a high quality way of human-robot interaction is crucial for a successful application of the PbD methodology in robotics. Hypotheses derived from the programming syst.m, and control knowledge included in a generated robot program has to be checked back with and to be verified by the user in order to avoid potentially harmful errors that lead to faulty code. This paper describes a method for user-robot interaction that is based on 3D-icons and supports and facilitates the programming process in a robot programming by demonstration syst.m significantly.

关键词： Robot programming Service robots Robot sensing syst.ms control syst.ms Sensor syst.ms Humans Robustness real time syst.ms Intellectual property Electronic mail

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Navigating a mobile service-robot in a natural environment using sensor-fusion techniques

Navigating a mobile service-robot in a natural environment u...

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Proceedings of the 1997 IEEE/RSJ International Conference on Intelligent Robot and syst.ms. Innovative robotics for real-World Applications. IROS '97

作者： P. Weckesser R. Dillmann U. Rembold Inst. of Real-Time Comput. Syst. & Robotics Karlsruhe Univ. Germany Department for Computer Science University of Karlsruhe 76128 Karlsruhe Germany

The mobile service robots described are designed to operate in dynamics and changing environments together with human beings and other static or moving objects. Sensors that are capable of providing the quality of information that is required for the described scenario are optical sensors, like digital cameras and laser scanners. In this paper the sensor integration and fusion for such sensors is described. Complementary sensor information is transformed into a common representation in order to achieve a cooperating sensor syst.m. Sensor fusion is performed by matching the local perception of the laser scanner and camera syst.m with a global model that is being build incrementally. The Mahalanobis distance is used as matching criterion and a Kalman filter is used to fuse matching features. A common representation including the uncertainty and the confidence is used for all scene features. The syst.m's performance is demonstrated for the task of exploring an unknown environment and incrementally building of the geometrical model.

关键词： Navigation Sensor phenomena and characterization Sensor fusion Optical sensors Laser fusion Sensor syst.ms Service robots Humans Digital cameras Laser modes

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Actuation in microsyst.ms: problem field overview and practical example of the piezoelectric robot for handling of microobjects

Actuation in microsystems: problem field overview and practi...

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International Conference on Emerging Technologies and Factory Automation (ETFA)

作者： B. Magnussen S. Fatikow U. Rembold Inst. for Real-Time Comput. Syst. & Robotics Karlsruhe Univ. Germany Institute for Redl-Time Computer Systems and Robotics University of Karlsruhe Karlsruhe Germany

Microsyst.ms, and in particular microrobots, require the development of new advanced actuators with very small dimensions, simple mechanical construction and high reliability. This paper presents an overview on the problem field of the microactuation and various kinds of actuation principles referring to the use of microrobots. To provide a microrobot with both the transportation and micromanipulation capabilities, various designs of piezoelectric actuators can be used. The piezoelectric robot for handling of microobjects (PROHAM) is proposed. The robot is equipped with three piezoelectrically driven legs, whereby it can move at a speed of several mm/sec. A manipulation tool, e.g. needle, pipette, gripper or glue applicator, can be mounted onto the robot's platform. The tool is driven by piezoelectric effect as well, and movements with an accuracy of 10 nm are possible. This allows the manipulation of very small objects under a microscope. The PROHAM can be used e.g. for the manipulation of biological cells, microassembly or testing of silicon chips.

关键词： Robots Transportation Piezoelectric actuators Legged locomotion Leg Needles Grippers Applicators Piezoelectric effect Microscopy

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A real-time control syst.m for the coordination of two industrial robots

A real-time control system for the coordination of two indus...

引用

IEEE International Conference on robotics and Automation (ICRA)

作者： M. Damm Inst. for Real-Time Comput. Syst. Robotics Karlsruhe Univ. Germany

Coordination of multiple manipulators is a well investigated research topic, but only few approaches were proved by experimental results. In this paper, a new scheme for coordinating and controlling two manipulators, based on hybrid position/force control is presented and validated by experiments. This new scheme is based on underlaying position control and therefore usable for industrial robot control syst.ms.< >

关键词： real time syst.ms control syst.ms Electrical equipment industry Industrial control Service robots Robot kinematics Force control Manipulators Master-slave Delay effects

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From autonomous assembly robots to service robots for factories

From autonomous assembly robots to service robots for factor...

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Proceedings of IEEE/RSJ International Conference on Intelligent Robots and syst.ms (IROS'94)

作者： U. Rembold T. Lueth T. Ogasawara Inst. for Real-Time Comput. Syst. & Robotics IPR Karlsruhe Univ. Germany Institute for Real-Time Computer Systems and Robotics IPR University of Karlsruhe Karlsruhe Germany Electro Technical Laboratory Tsukuba Ibaraki Japan

Besides the typical use of industrial robots in a manufacturing setting, new application areas for robots have been appearing during the past few years. In these areas, service robots perform general purpose activities without requiring repeated high speed movements or other requirements of industrial robot applications. For the development of service robots, the use and integration of research results obtained in the autonomous robot field is much more necessary than for the development of robots used in manufacturing. Both, high autonomy during service performance and simple syst.m access, which also means flexible programming or user-friendly syst.m control is desired over an easily operated man/machine interface. In this paper, properties of service robots are defined and some similarities and differences between service robots and fully autonomous robots are explained. The enhancement of an existing autonomous assembly robot, which is made to be a flexible service robot for industrial environments, is considered. The paper concludes with a running experiment, which shows how this robot prototype is used for different tasks in a manufacturing line.< >

关键词： Robotic assembly Service robots Production facilities Robot sensing syst.ms robotics and automation Manufacturing industries Product design Sensor syst.ms Air transportation real time syst.ms

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Robust subgoal planning and motion execution for robots in fuzzy environments

Robust subgoal planning and motion execution for robots in f...

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IEEE International Workshop on Intelligent Robots and syst.ms (IROS)

作者： Jianwei Zhang J. Raozkowsky Institute for Real-Time Computer Systems and Robotics University of Karlsruhe Germany Karlsruher Institut fur Technologie - Campus Nord Eggenstein-Leopoldshafen Baden-WÃ¼rttemberg DE Inst. for Real-Time Comput. Syst. & Robotics Karlsruhe Univ. Germany

In this paper, a fuzzy environment includes obstacles in the vicinity of robot motion, which cannot be modelled exactly or are entirely unknown, and a vague description of the relationship between the robot and the obstacles. An integrated concept for solving the problem of motion planning and control of robots in fuzzy environments is proposed. First, critical points for the desired motion are found in a connectivity network on the boundary of static obstacles. By considering the degree of uncertainty of the obstacles, the local geometry, the available free space and the path shape, these points are further adjusted to form subgoals which reliably decide the global motion direction. During on-line motion execution, a fuzzy controller evaluates sensor data, realizes the motion towards subgoals and avoids local unexpected collisions. Simulations with mobile robots show some control results using this concept.< >

关键词： Robustness Motion planning Motion control Robot control Fuzzy control Robot motion Orbital robotics Uncertainty comput.tional geometry Shape

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realisation of an adaptive real-time joint controller for a closely coupled two-arm manipulator syst.m

Realisation of an adaptive real-time joint controller for a ...

引用

IEEE International Conference on robotics and Automation (ICRA)

作者： M. Damm Inst. for Real-Time Comput. Syst. & Robotics Karlsruhe Univ. Germany

A joint controller is used as a basis for a sensory-based, closely coupled cooperating two-arm manipulator syst.m. Mechanisms for the synchronization of all joint controllers as well as for a close interaction between the joint control and the cartesian level have been realized. The control accuracy under high real-time demands has been improved with the help of the adaptation strategy of parameter scheduling. control parameters for the scheduling that accord significant, linearized working points are extracted by an offline identification and optimization process. Therefore, motions of a PUMA260 manipulator characterizing the specified working points are recorded under control of an algorithm with manually determined parameters. A simplified model of the process is achieved by a recursive-least-squares mechanism, and the optimized parameters are extracted by using a heuristic method.< >

关键词： Programmable control Adaptive control Robot sensing syst.ms real time syst.ms control syst.ms Mobile robots Force control Motion control Manipulator dynamics Mobile comput.ng

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Fast distance comput.tion for on-line collision detection with multi-arm robots

Fast distance computation for on-line collision detection wi...

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IEEE International Conference on robotics and Automation (ICRA)

作者： D. Henrich X. Cheng Inst. for Real-Time Comput. Syst. & Robotics Karlsruhe Univ. Germany

A fast method for comput.ng the collision vector for online collision detection with a multi-arm robot is presented. Manipulators and obstacles are modeled by sets of convex polytopes. Known distance algorithms serve as a foundation. To speed up the collision detection dynamic obstacles are approximated by geometric primitives and organized in hierarchies. Online, the dynamic hierarchies are adjusted to the current arm configuration. A comparison with previous methods showed an increased acceleration of the comput.tions.< >

关键词： Robots Orbital robotics Acceleration Arm real time syst.ms Manipulator dynamics Object detection comput.tional geometry Testing Collision avoidance

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A two-arm robot syst.m based on trajectory optimization and hybrid control including experimental evaluation

A two-arm robot system based on trajectory optimization and ...

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IEEE International Conference on robotics and Automation (ICRA)

作者： W. Meier J. Graf Inst. for Real-Time Comput. Control Syst. & Robotics Karlsruhe Univ. Germany

A control syst.m for the coordination of a two-arm robot based on trajectory generation, hybrid control, and syst.m design is presented. In particular, a method for trajectory optimization in respect of the kinematic and dynamic constraints of a closed kinematic chain is developed. Both Cartesian and joint constraints have been taken into consideration. The application of symmetric hybrid control in task-oriented object coordinates for an integrated two-arm robot syst.m is demonstrated. Details of the developed advanced control syst.m for two PUMA 260 robots are presented. Results of experiments performed to evaluate the position and force control scheme are illustrated to prove the performance of the overall two-arm syst.m.< >

关键词： control syst.ms Robot kinematics robotics and automation Orbital robotics Electrical equipment industry Industrial control Service robots Arm real time syst.ms Robot control

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