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检索条件"机构=Institute For Robotics And Process Control Technical"

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Towards On-Line Trajectory Computation

Towards On-Line Trajectory Computation

引用

2006 IEEE/RSJ International Conference on Intelligent Robots and Systems

作者： Torsten Kroger Adam Tomiczek Friedrich M. Wahl Institute for Robotics and Process Control Technical University of Braunschweig Germany

This paper proposes a new way of trajectory generation for industrial manipulators. A real-time algorithm for the interpolation of synchronized and time-optimal manipulator trajectories with arbitrary input values is presented. The method has been developed and implemented for multi-sensor systems, where sensor events can abruptly change desired target positions and trajectory constraints from one control cycle to another (i.e. maximum velocities, accelerations, and jerks). This work mainly presents a simple on-line second-order-trajectory generator and gives an outlook to a third-order-trajectory generator. Both algorithms generate time-optimal position progressions and require computational three steps: A. determination of the degree of freedom that requires the longest execution time, B. synchronization of all degrees of freedom by adapting maximum velocities and accelerations, C. calculation of new output values (position, velocity, and acceleration). Experimental results as well as a description of how to integrate this approach into manipulation control architectures are presented

关键词： Trajectory Acceleration Path planning Velocity control Intelligent robots Manipulator dynamics Service robots process control Computer industry Electrical equipment industry

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Distributed Sensing and Prediction of Obstacle Motions for Mobile Robot Motion Planning

Distributed Sensing and Prediction of Obstacle Motions for M...

引用

2006 IEEE/RSJ International Conference on Intelligent Robots and Systems

作者： Thorsten Rennekamp Kai Homeier Torsten Kroeger Institute for Robotics and Process Control Technical University of Braunschweig Germany

This work recommends an architecture and its fundamental components for motion planning for mobile robots in dynamic environments. An adaptive behavior to typical motion patterns of people is essential for robots to be accepted in crowded environments. This adaptation is achieved by a global and distributed sensing system to detect obstacle motions and model motion behavior. This article focuses on the detection, the modeling and the prediction of obstacle motion behavior. The model consists of a dynamic Bayesian network. The topology of the network is a geometric graph

关键词： Mobile robots Motion planning Predictive models Robot sensing systems Network topology Path planning Intelligent robots process planning Motion detection Bayesian methods

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A two-loop implicit force/position control structure, based on a simple linear model: theory and experiment

A two-loop implicit force/position control structure, based ...

引用

IEEE International Conference on robotics and Automation (ICRA)

作者： R. Osypiuk T. Kroger B. Finkemeyer F.M. Wahl Institute of Control Engineering Technical University of Szczecin Poland Institute for Robotics and Process Control Technical University of Braunschweig Germany

This paper deals with force/position control applied to robotic manipulators. It is well-known that force/position control for manipulators is a challenging task, because of strong nonlinearities exhibited by both the manipulator itself and by its environment. Despite the complexity inherent in manipulation processes, the classic single-loop feedback system with its advantages and disadvantages is still preferred in industrial use for force/position control. As interesting alternative we suggest the MFC-p (model-following control) two-loop control structure, which is based on a simple linear 2nd order model. The theoretical as well as the practical properties of this new control scheme are discussed in detail. It is shown that with our approach it is possible to achieve a much better control performance than that provided by a classic PID system. To prove the superiority of the concept, results with industrial manipulators under force control are shown

关键词： Force control Position control Manipulators Three-term control Industrial control control systems Service robots process control Force feedback Electrical equipment industry

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control of the multi agent micro-robotic platform MiCRoN

Control of the multi agent micro-robotic platform MiCRoN

引用

IEEE International Conference on Computer-Aided Design

作者： Panagiotis Vartholomeos Savvas Loizou Michael Thiel Kostas Kyriakopoulos Evangelos Papadopoulos Mechanical Engineering Department Control Systems Laboratory National and Technical University of Athens Athens Greece GRASP lab University of Pennsylvania Philadelphia PA USA Mechanical Engineering Department Control Systems Laboratory National and Technical University of Athens Greece Institute for Process Control and Robotics University of Karlsruhe Karlsruhe Germany

This paper presents the theoretical framework for the centralized control architecture of the multi agent micro-robotic platform MiCRoN. The entire control system architecture integrates sensory modules, modeling modules, and control modules. The latter are composed by (i) a high level simulation and autonomous execution unit that is capable for on-line multi-robot navigation with collision avoidance, (ii) a trajectory tracking unit for manipulation purposes, and (iii) a low level position controller that performs position control exploiting machine learning algorithms. The high level controllers take into account behaviors specific to the micro-scale. The performance of the layered control system is evaluated through simulations and preliminary hardware experiments on a micro-robotic platform. The application domain of the MiCRoN platform is cell manipulation, and 3-D assembly for micro-fabrication.

关键词： control systems Robots Nanobioscience Mechanical engineering robotics and automation Navigation Centralized control Assembly systems Robotic assembly Trajectory

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Towards a new concept of robot programming in high speed assembly applications

Towards a new concept of robot programming in high speed ass...

引用

2005 IEEE/RSJ International Conference on Intelligent Robots and Systems

作者： U. Thomas F.M. Wahl J. Maass J. Hesselbach Institute for Robotics and Process Control Technical University of Braunschweig Brunswick Germany

In this paper, we present work about robot control architecture, assembly planning and task planning for manufacturing robots. The interface between an offline planning unit and control systems is handled with skill primitives. Thus, skill primitives and skill primitive nets are explained in detail. Our long term aim is to combine robot control with task and assembly planning, so that with less human interaction manufacturing costs can be reduced. Even parallel kinematic machines provide enormous opportunities to reduce cycle times and thus the benefit should not be wasted by expensive specialized robot programming. Thus, we give an overview of our system and focus on some aspects to implement such a sophisticated system.

关键词： Robot programming Robotic assembly Motion planning Assembly systems control systems Robot control Kinematics Robot sensing systems process planning Production planning

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Fast random sample matching of 3d fragments

引用

26th DAGM Symposium on Pattern Recognition, 2004

作者： Winkelbach, Simon Rilk, Markus Schönfelder, Christoph Wahl, Friedrich M. Institute for Robotics and Process Control Technical University of Braunschweig Mühlenpfordtstr. 23 BraunschweigD-38106 Germany

ISBN: (纸本)3540229450

This paper proposes an efficient pairwise surface matching approach for the automatic assembly of 3d fragments or industrial components. The method rapidly scans through the space of all possible solutions by a special kind of random sample consensus (RANSAC) scheme. By using surface normals and optionally simple features like surface curvatures, we can highly constrain the initial 6 degrees of freedom search space of all relative transformations between two fragments. The suggested approach is robust, very time and memory efficient, easy to implement and applicable to all kinds of surface data where surface normals are available (e.g. range images, polygonal object representations, point clouds with neighbor connectivity, etc.). © Springer-Verlag Berlin Heidelberg 2004.

关键词： Degrees of freedom (mechanics)

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An integrative approach for multi-sensor based robot task programming

An integrative approach for multi-sensor based robot task pr...

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IEEE International Conference on robotics and Automation (ICRA)

作者： U. Thomas J. Florke S. Detering F.M. Wahl Institute for Robotics and Process Control Technical University of Braunschweig Germany

In this paper, we suggest skill primitive nets for multi-sensor integration in robot task programming. Each skill primitive is either a hybrid motion or a command interpreted by an external vision system. For the integration of different sensors into one general and comprehensive approach, one has to consider different sensing modalities. With an extension of our previously outlined approach of skill primitive nets, multi-sensor integration is possible. Thereby, a large amount of applications can be realized. We also give a precise specification as XML-interface for skill primitive nets. In this paper advantages are outlined, when using this interface between programming and control. Our skill primitive net approach for multi-sensor integration has been evaluated with industrial applications.

关键词： Robot programming Robot sensing systems Robotic assembly Force control Robot control Force sensors Robot vision systems Cameras Force feedback Sensor systems

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Adaptive implicit hybrid force/pose control of industrial manipulators: compliant motion experiments

Adaptive implicit hybrid force/pose control of industrial ma...

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IEEE International Workshop on Intelligent Robots and Systems (IROS)

作者： T. Kroger B. Finkemeyer M. Heuck F.M. Wahl Institute for Robotics and Process Control Technical University of Braunschweig Germany

The major purpose of this paper is to combine results of current robot force control research with scientific approaches in compliant motion, which are based on Mason's task frame formalism. The embedding of adaptive implicit hybrid force/pose control in a robot control architecture for compliant motion control is described. By the usage of adaptive force control, the practicability of compliant motion applications is improved. The applied control concept is constituted in a theoretical as well as in a practical manner. To highlight the meaning for practical implementations, experimental results with industrial manipulators under adaptive force control in three degrees of freedom are finally shown.

关键词： Force control Programmable control Adaptive control Motion control Industrial control Robot control Manipulators Robotic assembly Sections Service robots

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A task frame formalism for practical implementations

A task frame formalism for practical implementations

引用

IEEE International Conference on robotics and Automation (ICRA)

作者： T. Kroger B. Finkemeyer F.M. Wahl Institute for Robotics and Process Control Braunschweig Technical University Germany

Mason's Task Frame Formalism (TFF) is supposed to deliver robot application programmers an intuitive and powerful programming interface. The open literature provides many theoretic approaches, but almost none of them is practicable. To bring these research results into practice is the major aim of this paper. Sets of manipulation primitives specify compliant motion commands, which let us execute complex robot tasks. We introduce an appropriate notation and focus on all significant TFF values, which have to be applied to the transformations, which are required on the control level. All essential calculations are derived; to highlight the meaning for practical implementations, an example, how to embed this knowledge in control architectures, is given.

关键词： Robot control Force control Programming profession Robot programming Manipulators Robotic assembly process control Motion control Level control control systems

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Development of a modular anthropomorphic robot hand using servohydraulic actuators

Development of a modular anthropomorphic robot hand using se...

引用

IEEE-RAS International Conference on Humanoid Robots

作者： K. Weiss H. Woern Institute of Process Control and Robotics (IPR) Technical University of Karlsruhe Karlsruhe Germany

Today's service robotics requires humanlike handling systems to interact with our everyday use items. In this paper we introduce the concept of a new modular anthropomorphic robot hand and describe our current work on its realization. Due to its modular architecture of a hand which shall be easily customizable to different applications ranging from handling systems for household helpers to robust finger grippers in factory automation. To drive the fingers, a servohydraulic approach for power transmission is used. Dedicated micro hydraulic cylinders are integrated in the finger segments to actuate the joints. They are driven by a position controlled piston pump. Due to the use of a PTFE enhanced surface coating, slip stick effects and friction are significantly reduced. Our prototype has shown, that the fingers are very robust and even water resistant. The low level control of the robot hand will be done by a reconfigurable system on chip, making future changes of the hardware's functionality possible without changing any printed circuits boards.

关键词： Anthropomorphism Actuators Fingers Robustness Human robot interaction robotics and automation Architecture Grippers Manufacturing automation Power transmission

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