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5th IEEE International Conference on Electronics, Circuits and Systems, ICECS 1998

作者： Fahlbusch, Stephan Fatikow, Sergej Institute for Process Control and Robotics University of Karlsruhe KarlsruheD-76128 Germany

ISBN: (纸本)0780350081

This paper describes methods of force sensing and gives a brief overview about applications of micro force sensors. Realisation of reliable force sensing during manipulation of microobjects is one of the important objectives of the current research activities. At present, the most common technique used for force sensing in micromanipulation is that of strain gauges;some of the proposed force sensors make use of the piezoelectric effect. Other promising methods for strain measurement are also explored, but in general, only few work is present in literature providing a basic and analytical description of force sensors for micromanipulation. However, these data are of fundamental importance for a proper functionality of microrobots capable of grasping with force feedback. © 1998 IEEE.

关键词： Piezoelectricity

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Propagation of Action Knowledge in Multi-Agent Systems

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IFAC Proceedings Volumes 1998年第15期31卷 601-606页

作者： H. Friedrich O. Rogalla R. Dillmann Institute for Process-Control and Robotics Department for Computer Science University of Karlsruhe

Currently, an inportant topic in robotic reasearch systems is the design and development of learning Multi-Agent Systems ( MAS ). One major advantage of these systems is the fact that several agent work towards a common goal, having different specializations for specific subtasks. Especially learning MAS in cooperation with a human teacher seem to be a very promising approach for complex manipulation and production tasks. Since agents can join and leave the system at any time, it is important that knowledge acquired by single agents can be transferred or propagated between agents, to ensure that knowledge is not lost, if agents leave the system. Therefore, techniques will be presented to represent extentable action knowledge for task solutions in an agent's knowledge base and additionally, algorithms for propagating this knowledge between agents efficiently and with minimum communication effort.

关键词： Multi-Agent Systems Learning Knowledge-Representation

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Force sensing in microrobotic systems-an overview

Force sensing in microrobotic systems-an overview

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IEEE International Conference on Electronics, Circuits and Systems (ICECS)

作者： S. Fahlbusch S. Fatikow Institute of Process Control and Robotics University of Karlsruhe Karlsruhe Germany

This paper describes methods of force sensing and gives a brief overview about applications of micro force sensors. Realisation of reliable force sensing during manipulation of microobjects is one of the important objectives of the current research activities. At present, the most common technique used for force sensing in micromanipulation is that of strain gauges; some of the proposed force sensors make use of-the piezoelectric effect. Other promising methods for strain measurement are also explored, but in general, only a few provide a basic and analytical description of force sensors for micromanipulation. However, these data are of fundamental importance for a proper functionality of microrobots capable of grasping with force feedback.

关键词： Force sensors Capacitive sensors Force measurement Strain measurement Stress Electric resistance Optical sensors Electrical resistance measurement Force feedback Optical control

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Robot cell for craniofacial surgery

Robot cell for craniofacial surgery

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Annual Conference of Industrial Electronics Society

作者： C. Burghart J. Raczkowsky U. Rembold H. Worn Institute of Process Control and Robotics University of Karlsruhe Karlsruhe Germany

Using a robot in craniofacial surgery might seem to be a rather far fetched idea. However, a high level of precision, skill and experience is necessary in order to perform maxillofacial interventions successfully and harmonically. Thus the institute of process control and robotics has devised a complex computer aided surgical system which supports the surgeon before and during the operation. On the one hand preoperative plans can be generated by using a three-dimensional computer model of the patient's skull. On the other hand the best planning device is rather useless if there is no adequate means at hand to intraoperatively transpose the established plan with the required accuracy. In this paper we present our surgical robotic system for craniofacial surgery and give an insight into some of its features.

关键词： Surges Service robots Navigation Minimally invasive surgery Orthopedic surgery process control Surgical instruments Kinematics Defense industry Electrical equipment industry

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On-line motion planning for medical applications

On-line motion planning for medical applications

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Annual Conference of Industrial Electronics Society

作者： C. Burghart C. Wurll D. Henrich J. Raczkowsky U. Rembold H. Worn Institute of Process Control and Robotics University of Karlsruhe Karlsruhe Germany

Enhancing the quality of surgical interventions is one of the main goals of surgical robotics. Thus we have devised a surgical robotic system for maxillofacial surgery which can be used as an intelligent intraoperative surgical tool. Up to now a surgeon preoperatively plans an intervention by studying two dimensional X-rays, thus neglecting the third dimension. In the course of the special research programme "Computer and Sensor Aided Surgery" a planning system has been developed at our institute, which allows the surgeon to plan an operation on a three dimensional computer model of the patient. Transposing the preoperatively planned bone cuts, bore holes, cavities, and milled surfaces during surgery still proves to be a problem, as no adequate means are at hand: the actual performance of the surgical intervention and the surgical outcome solely depend on the experience and the skill of the operating surgeon. In this paper we present our approach of a surgical robotic system to be used in maxillofacial surgery. Special stress is being laid upon the modelling of the environment in the operating theatre and the motion planning of our surgical robot.

关键词： Medical services Biomedical equipment Surgery Surges Medical robotics Motion planning Intelligent robots Intelligent sensors Robot sensing systems X-rays

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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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A sensor fusion approach for PbD

A sensor fusion approach for PbD

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IEEE International Workshop on Intelligent Robots and Systems (IROS)

作者： O. Rogalla M. Ehrenmann R. Dillmann Institute för Process Control & Robotics University of Karlsruhe Karlsruhe Germany

Since programming by demonstration (PbD) approaches have reached prime importance in interactive robot programming, sensor technology for tracking user actions and user behavior have become more and more important. However, traditional methods based on single sensor system input are already at their limits, since PbD is an application area where real-time requirement do play an important role. Thus, a sensor fusion approach is proposed which serves input data for a finite state automaton. The input sources are on the one hand a data-glove which classifies different grips and on the other hand a movable camera head which tracks the movements of the data glove as well as estimates object positions. Both sensor sources use time efficient algorithms, since sensory data must be processed in real-time. The efficiency of this approach is proven in a PbD environment were flexible infusion bags are handled and respective actions and object positions are recognized.

关键词： Sensor fusion Robot sensing systems Robot programming Service robots Sensor systems Cameras process control Real time systems Tracking Data gloves

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