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IEEE International Workshop on Intelligent Robots and Systems (IROS)

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

In recent papers we (1996, 1997) have proposed a new path planning approach for mobile robots: statistical motion planning with respect to typical obstacle behavior in order to improve pre-planning in dynamic environments. In this paper, we present our experimental system: in a real environment, cameras observe the workspace in order to detect obstacle motions and to derive statistical data. We have developed new techniques based on stochastic trajectories to model obstacle behavior. Collision probabilities are calculated for polygonal objects moving on piecewise linear trajectories. The statistical data can be applied directly, thus the entire chain from raw sensor data to a stochastic assessment of robot trajectories is closed. Finally, some new work regarding different applications of statistical motion planning is outlined, including road-map approaches for pre-planning, expected time to reach the goal, and reactive behaviors.

关键词： Path planning Motion planning Stochastic processes Mobile robots Robot vision systems Cameras Motion detection Road accidents Probability Piecewise linear techniques

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Constraint evaluation for assembly sequence planning

Constraint evaluation for assembly sequence planning

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IEEE International Symposium on Assembly and Manufacturing (ISAM)

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

Assembly planning systems generate plans for the automated assembly of mechanical products by robots. The sequences to be generated underlie several physical and geometrical constraints and in addition have to be efficient to increase productivity. The challenges still facing the field are to develop efficient and robust analysis tools and to develop planners capable of finding optimal or near-optimal sequences rather than just feasible sequences. This paper addresses the problem of discovery and computation of new measures for assembly cost evaluation. The evaluation criteria are based on the results of the constraint checking process of a high level assembly planning system. The selection of the best assembly plan can be geared towards optimizing these evaluation criteria.

关键词： Assembly systems Robotic assembly process planning Costs Artificial intelligence process control Mechanical products Productivity Robustness Explosions

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Geometrical and physical cost evaluation for robot assembly sequence planning

Geometrical and physical cost evaluation for robot assembly ...

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IEEE International Conference on Intelligent Engineering Systems (INES)

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

关键词： Robotic assembly Costs Assembly systems process planning robotics and automation Grippers Artificial intelligence process control Productivity Explosions

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Acquisition of obstacle motion patterns to improve mobile robot motion planning

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Advanced robotics 1997年第5期12卷 565-578页

作者： Kruse, Eckhard Gutsche, Ralf Wahl, Friedrich Institute for Robotics and Process Control Technical University of Braunschweig Braunschweig 38114 Hamburger Strasse 267 Germany

Mobile robots for advanced applications have to act in environments which contain moving obstacles (humans). Even though the motions of such obstacles are not precisely predictable, usually they are not completely random;long-term observation of obstacle behavior may thus yield valuableknowledge about prevailing motion patterns. By incorporating such knowledge as statistical data, a new approach called statistical motion planning yields robot motions which are better adapted to the dynamic environment. To put these ideas into practice, an experimental system has been *** observe the workspace in order to detect obstacle motion. Statistical data is derived and represented as a set of stochastic trajectories. This data can be directly employed in order to calculate collision probability, i.e. the probability of encountering an obstacle during the robot'smotion. Further aspects of motion planning are addressed: path planning which minimizes collision probability, estimation of expected time to reach the goal and reactive planning. © VSP and robotics Society of Japan 1997.

关键词： Collision probability Global monitoring system Image processing Mobile robots Motion planning Moving obstacles Statistical models

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CAD method for industrial assembly, concurrent design of products, equipment and control systems

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Computer-Aided Design 1997年第10期29卷 737-737页

作者： Frank Röhrdanz Institute for Robotics and Process Control Technical University of Braunschweig Germany

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Interactive multiobjective decision-making approach to image reconstruction from projections

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SIGNAL processING 1996年第1期48卷 67-75页

作者： Wang, YM Wahl, FM Institute of Robotics and Process Control Technical University of Braunschweig Hamburger Street 267 Braunschweig D-38114 Germany

In this paper we propose an interactive multiobjective decision making method based on three criteria functions for image reconstruction. Image reconstruction based on this method is shown to be superior to conventional iterative reconstruction algorithms such as SIRT (Simultaneous Interactive Reconstruction Technique) from the point of view of accuracy of reconstruction. Computer simulation using the multiobjective method shows a significant improvement in image quality and convergence behavior over the conventional algorithms.

关键词： multicriteria image reconstruction multiobjective optimization

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Generating and evaluating stable assembly sequences

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Advanced robotics 1996年第2期11.0卷 97-126页

作者： RÖhrdanz, F. Mosemann, H. Wahl, F. Institute of Robotics and Process Control Technical University of Braunschweig Braunschweig 38114 Hamburger Strasse 267 Germany

High-level assembly planning systems generate plans for the automated assembly of mechanical products by robots. The sequences to be generated underlie several physical and geometrical constraints, and in addition have to be efficient to increase productivity. The challenges still facingthe field are to develop efficient and robust analysis tools, and to develop planners capable of finding optimal or near-optimal sequences rather than just feasible sequences. The presented high level assembly planning system ^High LAP automatically considers physical and geometricalconstraints to generate and to evaluate stable assembly sequences. In this paper we propose a relational assembly model including a CAD description and the specification of features and relations of the assembly components. We use an optional specification of an arbitrary hierarchy of assembliesto speed up and guide the generation of sequences. ^High LAP evaluates all feasible assembly sequences considering several criteria like separability and manipulability of the generated (sub)assemblies. Furthermore, the necessity of reorientation for a mating operation and parallelismduring plan execution are considered. Another important criterion is the stability of the generated (sub)assemblies. Most of the assembly planners developed up to date use heuristical or user-defined criteria to determine assembly stability for plan evaluation. The presented system is thefirst assembly planning system which automatically determines the range of all stable orientations of an assembly for plan evaluation. Therefore, we introduce a stability metric and an algorithm to calculate all stable orientations of an assembly considering friction. Experimental resultsare presented to demonstrate the efficiency of our assembly planning system. © 1996 Taylor & Francis Group, LLC.

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Friction analysis and modelling for geared robots

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IFAC Proceedings Volumes 1994年第14期27卷 551-556页

作者： M. Prüfer F.M. Wahl Institute for Robotics & Process Control Technical University of Braunschweig Hamburger Straße 267 38114 Braunschweig FRG

This paper gives some insight into the frictional behaviour of geared robot links. It will be shown, that in addition to well-known models, the temperature of the actuator has to be taken into account as parameter. An elaborate analysis procedure has been used to measure the friction over velocity and temperature. The behaviour has been approximated by a friction model based on orthogonal polynomials. The model parameters are determined by a standard least squares method. With a detailed knowledge about the frictional be-haviour, a precompensation can be applied; thus, a linear increase of velocity, i.e. constant accel-eration, can be achieved by applying a constant desired torque value to an open loop control. Friction precompensation releases the controller from the compensation of the disturbances of nonlinear frictional effects and contributes to a more accu-rate robot control.

关键词： temperature dependent friction friction modelling geared robots robot dynamics

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Fast and Versatile Range Data Acquisition in A Robot Work Cell

Fast and Versatile Range Data Acquisition in A Robot Work Ce...

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1992 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 1992

作者： Stahs, T. Wahl, F. Institute for Robotics and Process Control Technical University of Braunschweig FRG Germany

ISBN: (纸本)0780307372

The paper presents a new concept for the flexible integration of a range sensor into a robot work cell. The sensor itself is based on the Coded Light Approach, which is wellknown as a fast and robust active triangulation technique. We propose a depth-eye-in-hand configuration, in which the camera is mounted on the robot's hand while one or more projectors are installed rigidly with respect to the robot's base. The initial calibration of the involved system components is discussed in detail. In addition to this, since the configuration of the optical components changes with the movement of the robot, a fast recalibration of the optical setup as well as an efficient realization of the triangulation is presented. Detailed experimental results reveal the speed of the range data acquisition as well as the accuracy of the calculated range values. © 1992 IEEE.

关键词： Data acquisition

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Fast And Versatile Range Data Acquisition In A Robot Work Cell

Fast And Versatile Range Data Acquisition In A Robot Work Ce...

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IEEE International Workshop on Intelligent Robots and Systems (IROS)

作者： T. Stabs F. Wahl Institute For Robotics And Process Control Technical University Of Braunschweig Frg Institute for Robotics and Process Control Technical University of Braunschweig Germany

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