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IEEE International Conference on robotics and Automation (ICRA)

作者： S.A. Stoeter S. Voss N.P. Papanikolopoulos H. Mosemann Artificial Intelligence Robotics and Vision Laboratory Department of Computer Science and Engineering University of Minnesota Minneapolis MN USA Institute for Robotics and Process Control Technical University of Braunschweig Germany

Robotic manipulators in contemporary work-cells are often incapable of solving even simple pick-and-place operations. More specifically, most systems require each object to be supplied in the same and pre-defined way. Introducing regrasping to the production cycle relaxes the constraints imposed on supply mechanisms. Regrasping describes the operation that must be performed whenever an object's pick-up grasp is incompatible with its put-down grasp. The paper presents a novel approach to solve the regrasp problem for robots equipped with parallel-jaw end-effecters. The proposed method first evaluates the object's possible grasps and placements. These are subsequently combined to form grasp-placement-grasp triples. A regrasp sequence leading from the pick-up to the put-down grasp is generated by searching through the resulting space of compatible grasp-placement-grasp triples. The algorithm takes kinematic and geometric constraints of both the manipulator and the objects into account. Computational concerns are addressed by subdividing the calculation into an off-line and a fast online phase.

关键词： Intelligent robots Robot vision systems Belts Path planning Artificial intelligence Laboratories Computer science process control Manipulators Production

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Sensor-based obstacle modeling in configuration space for manipulator motion planning

Sensor-based obstacle modeling in configuration space for ma...

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International Workshop on Robot Motion and control (RoMoCo)

作者： Wei Li Zusbun Chen F.M. Wahl K.R. Kozlowski Department of Computer Science and Technology Tsinghua University Beijing China Institute for Robotics and Process Control Technical University of Braunschweig Brunswick Germany Chair of Control Robotics and Computer Science Poznań University of Technology Poznan Poland

Presents an approach to sensor-based obstacle modeling in a configuration space for manipulator motion planning in unknown environments. In order to achieve this objective, an efficient algorithm is used to fast map obstacles based on defined fundamental obstacles in the workspace and their images in the configuration space. A robotic manipulator is assumed to be equipped with distance sensors to detect obstacles in the local region. By computation of the critical points of an obstacle based on information acquired by the distance sensors, an obstacle model in the configuration space is constructed. By using this sensor-based configuration space modeling, robot motion planning in unknown environments can be performed in realistic time frames.

关键词： Manipulators Orbital robotics Motion planning Robot sensing systems Space technology Computational geometry process planning Technology planning Computer science Solid modeling

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technical note Hybrid fuzzy P+ID control of manipulators under uncertainty

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Mechatronics 1999年第3期9卷 301-315页

作者： W. Li X.G. Chang F.M. Wahl S.K. Tso Department of Computer Science and Technology Tsinghua University Beijing 100084 Peoples Republic of China Institute for Robotics and Process Control Technical University of Braunschweig Hamburger Str. 267 D-38114 Braunschweig Germany Center for Intelligent Design Manufacturing and Automation Department of Manufacturing Engineering and Engineering Management City University of Hong Kong Hong KongPeoples Republic ofChina

Currently, most commercial robot manipulators are equipped with conventional PID controllers due to their simplicity in structure and ease of design. Using such a controller, however, it is difficult to achieve a desired control performance since the dynamic equations of a mechanical manipulator are tightly coupled. In addition, they are highly nonlinear and uncertain. This paper uses a new hybrid control scheme to control a direct drive two-link manipulator under inertial parameters changes. The proposed hybrid control scheme consists of a fuzzy logic proportional controller and a conventional integral and derivative controller (FUZZY P+ID). In comparison with a conventional PID controller, only one additional parameter has to be adjusted to tune the FUZZY P+ID controller. The outlined experimental results demonstrate the effectiveness and the robustness of the new FUZZY P+ID controller.

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Camera-based observation of obstacle motions to derive statistical data for mobile robot motion planning

Camera-based observation of obstacle motions to derive stati...

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IEEE International Conference on robotics and Automation (ICRA)

作者： E. Kruse F.M. Wahl Institute for Robotics and Process Control Technical University of Braunschweig Brunswick Germany

Mobile robots for advanced applications have to act in environments which contain moving obstacles. Motions of obstacles (e.g. humans) usually are not precisely predictable, but neither they are completely random. Long-term observation of obstacle behavior may yield knowledge about prevailing motion patterns. This paper presents concepts and results of an experimental system. Using cameras mounted at the ceiling, the workspace is observed. The image data is processed and transformed into a compact statistical representation of motion patterns. Mobile robot motion planning benefits from such additional knowledge: trajectories are rated in terms of collision probability and expected time for reaching the goal; planning yields efficient paths which are adapted to obstacle behavior.

关键词： Mobile robots Robot sensing systems Motion planning Humans Robot vision systems Cameras Intelligent sensors Intelligent robots Path planning Costs

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Assembly stability as a constraint for assembly sequence planning

Assembly stability as a constraint for assembly sequence pla...

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IEEE International Conference on robotics and Automation (ICRA)

作者： H. Mosemann F. Rohrdanz F. Wahl Institute for Robotics and Process Control Technical University of Braunschweig Brunswick Germany

We discuss assembly stability as a constraint for assembly sequence planning. An assembly sequence plan is a high-level plan for constructing a mechanical product from its component parts. The analysis of (sub)assembly stability avoids mating parts which tend to disassemble under the influence of gravity. Furthermore, the number of reorientations which gives a good idea on the value of an assembly sequence depends on the stability of the parts to be assembled. We present algorithms to calculate the set of potentially stable orientations of an (sub)assembly considering static friction under uniform gravity. This set is used for the evaluation of assembly sequences and the minimization of the number of reorientations during plan execution. Therefore, a new evaluation function based on the set of potentially stable assembly orientations is proposed and integrated into the assembly cost evaluation of a high level assembly planning system.

关键词： Robotic assembly Assembly systems Mechanical products Friction process planning Gravity process control Stability analysis Cost function robotics and automation

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Camera-based monitoring system for mobile robot guidance

Camera-based monitoring system for mobile robot guidance

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IEEE International Workshop on Intelligent Robots and Systems (IROS)

作者： E. Kruse F.M. Wahl Institute for Robotics and Process Control Technical University of Braunschweig Braunschweig Germany

The more the robot knows about its environment, the more efficiently it can operate. This is the basic idea of the system presented in this paper. By employing an external camera-based sensing system, a global model of the robot's environment is maintained and updated continuously. Thus, motion planning and collision avoidance in a dynamic environment (i.e. an environment which contains moving obstacles) can be done efficiently. For many indoor applications this concept is inherently superior compared to mobile robots which act completely autonomously. The paper presents concepts and components of an experimental system: Sensing is done with CCD cameras; the processed data is furnished to different modules regarding robot localization, obstacle detection and motion planning.

关键词： Monitoring Mobile robots Robot sensing systems Motion planning Collision avoidance Charge coupled devices Robot vision systems Charge-coupled image sensors Cameras Robot localization

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Classification and recognition of contact states for force guided assembly

Classification and recognition of contact states for force g...

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IEEE International Conference on Systems, Man and Cybernetics

作者： H. Mosemann A. Raue F. Wahl Institute for Robotics and Process Control Technical University of Braunschweig Brunswick Germany

The execution of generated assembly plans by robots is one of the key technologies of modern and flexible manufacturing. During the execution of assembly sequences the robot comes into contact with environment. Since there are positional and geometrical uncertainties from object representation, robot motion, and sensory information, compliance is used typically to prevent excessive contact forces. These contact forces provide information about the contact geometry which is used to guide the assembly operation. In this paper we present an algorithm to classify and recognize contact states between subassemblies. We analyze the local depart space (LDS) given by the assembly planning system for the calculation, classification, and recognition of the contact states. The LDS describes the direction of motion for the separation of subassemblies involved in the assembly sequence. We calculate valid configurations of the active subassembly in an uncertainty region and use the theory of polyhedral convex cones for the recognition of contact states. Therefore, force-torque sensor information acquired in the assembly process is interpreted using state classifiers which are formulated by polyhedral convex cones.

关键词： Robotic assembly Assembly systems Robot sensing systems Computational geometry Information geometry Uncertainty process control Manufacturing processes Robot motion Sensor systems

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Intelligent Mobile Robot Guidance in Time-Varying Environments by Using a Global Monitoring System

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IFAC Proceedings Volumes 1998年第3期31卷 291-296页

作者： E. Kruse R. Gutsche F.M. Wahl Institute for Robotics and Process Control Technical University of Braunschweig Hamburger Str. 267 D-38114 Braunschweig Germany

Mobile robots for advanced applications have to act in environments which contain moving obstacles (e.g. humans). Motions of obstacles usually are not precisely predictable. Thus, it is not possible to guarantee pre-planned paths to be collision-free. Instead, permanent sensor-based control and guidance is required. This paper favors the concept of employing an external sensor system in order to perform global navigation of the robot. Principles and results of an experimental system are presented: Sensing is done with CCD cameras and difference image analysis. The data is furnished to different modules regarding robot localization, motion planning and collision avoidance. Further focus is put on motion planning: By employing statistical data about average obstacle behavior, an advanced planning technique yields motions which are well adapted to the dynamic environment.

关键词： Mobile robots Automated guided vehicles Robot navigation Path planning Obstacle detection Obstacle avoidance Image processing Probabilistic models Statistics

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Statistical motion planning for mobile robots: paradigms for efficiency and optimality using a discrete model

Statistical motion planning for mobile robots: paradigms for...

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IEEE International Conference on Systems, Man and Cybernetics

作者： E. Kruse R. Gutsche F.M. Wahl Institute for Robotics and Process Control Technical University of Braunschweig Brunswick Germany

In recent papers we have proposed a new path planning approach for mobile robots, which employs statistical data in order to plan efficient paths in environments with moving obstacles. In this paper, a more systematic insight is offered using a simplified model with discrete space and time. We present complete algorithms yielding globally optimal solutions without requiring any heuristics. Regarding the reactive behaviour, benefits of statistical motion planning are specified in terms of reliability and expected time to reach the given goal positions.

关键词： Motion planning Mobile robots Probability Predictive models Path planning process planning process control Electronic mail Trajectory Stress

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Generating and evaluating regrasp operations

Generating and evaluating regrasp operations

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IEEE International Conference on robotics and Automation (ICRA)

作者： F. Rohrdanz F.M. Wahl Institute for Robotics and Process Control Technical University of Braunschweig Brunswick Germany

Regrasping must be performed whenever a robot's grasp of an object is not compatible with the pick-and-place operation the robot must perform. This paper presents a new approach to the problem of regrasping for a robot arm equipped with a parallel-jaw end-effector. The method employs an evaluated breadth-first search in the space of compatible regrasp operations taking into account several criteria rating about the grasp and placement quality. We pay particular attention to online computational efficiency. The presented system is the first planning system performing as much of offline computation as possible for solving the regrasp problem efficiently online.

关键词： Robot kinematics Grippers Orbital robotics Fingers Parallel robots process control Interference constraints Joining processes Performance evaluation process planning

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