检索结果-内蒙古大学图书馆

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

来源：评论

学校读者我要写书评

暂无评论

Gentle robotic handling - adaptation of gripperorientation to minimize undesired shear forces

Gentle robotic handling - adaptation of gripperorientation t...

引用

IEEE International Conference on robotics and Automation (ICRA)

作者： Suei Jen Chen H. Worn U.E. Zimmermann R. Bischoff Institute for Process Control and Robotics (IPR) Universität Karlsruhe Karlsruhe Germany KUKA Roboter GmbH Augsburg Germany

Today's palletizing and handling robots move their payloads on trajectories that are neither optimized for minimal grasping forces nor for careful object handling. Problems arise with vacuum grippers that can only exert normal forces on payloads. During high-speed transfers undesired shear forces and torques appear that may well lead to the loss of grasped objects and consequently to a production stop and damage to both the object and the environment. A related problem is concerned with handling goods that need special care, such as liquids that should not spill over during transport, or bakery goods on a tray that should not be scrambled and dislocated before being moved into an oven. To be able to handle objects with care but nevertheless with maximum velocity, a new simple and effective methodology based on the adaptation of the gripper orientation is proposed. It leads to robot trajectories (in particular gripper orientations) that minimize shear forces and torques on grasped objects and thus allows gentle robotic handling processes. The methodology is presented as well as simulation and experimental results

关键词： Robots Grippers Acceleration Containers Motion control Payloads Production Glass Vibration control Robotic assembly

来源：评论

学校读者我要写书评

暂无评论

DMC-Expert control of Gasoline In-line Blending process

DMC-Expert Control of Gasoline In-line Blending Process

引用

Chinese control Conference (CCC)

作者： Y. Fang N. Wang S. Wang Institute of Robotics and Automatic Information Systems Nankai University Tianjin China Institute of Industrial Process Control University of Zhejiang Hangzhou Zhejiang China

This paper proposes an advanced control strategy for gasoline in-line blending process to achieve tight control of octane quality for resultant gasoline. Specifically, the control law includes a dynamic matrix control (DMC) part to address the large delay mainly caused by the on-line octane analyzer, and an expert control part to calculate the flow of each blending gasoline. As demonstrated by experimental results for the blending process of a refinery, the developed blending control system exhibits such advantages as high precise control for octane quality of resultant gasoline, strong robustness over various uncertainties, and so on. It is expected that the designed control system will bring economic benefit for refineries by largely reducing gasoline blending cost.

关键词： Petroleum Automatic control control systems Service robots robotics and automation Information systems Electrical equipment industry Gas industry Industrial control process control

来源：评论

学校读者我要写书评

暂无评论

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

来源：评论

学校读者我要写书评

暂无评论

Approach to an architecture for a generic computer integrated surgery system

Approach to an architecture for a generic computer integrate...

引用

作者： Peters, Helge Raczkowsky, Joerg Woern, Heinz Institute for Process Control and Robotics University of Karlsruhe Karlsruhe Germany

ISBN: (纸本)0780389123

This article describes the proposal for an architecture that allows to easily connect different devices or modules to a system for computer integrated surgery (CIS). This would allow the reuse of expensive CIS devices like robots. Yet, in contrast to other surgical robot systems, this architecture does not require a robot - it just supports its use. Therefore a robot and its attached tool are distinguished as two separate devices. All devices in this architecture have knowledge about themselves and thus hardly depend on other devices. The article motivates and describes this architecture and explains an example implementation. © 2005 IEEE.

关键词： Surgical equipment

来源：评论

学校读者我要写书评

暂无评论

control architecture for tactile co-operation between human and a humanoid robot

Control architecture for tactile co-operation between human ...

引用

9th World Multi-Conference on Systemics, Cybernetics and Informatics, WMSCI 2005

作者： Woern, Heinz Yigit, Sadi Institute of Process Control and Robotics University of Karlsruhe D-76128 Karlsruhe Germany

ISBN: (纸本)9806560612

Conventionally, human robot co-operation in a closed kinematic chain on the physical level implies a touching of then robot hand or of an object gripped by the robot. Instead, some applications require a manual guiding of a robotic arm by touching its links with restricted degrees of freedom like the upper arm, the lower arm, the elbow or the shoulder. In theses cases it usually is not possible to yield the applied forces properly, as this leads to unintended reactions of subsequent links and joints within the kinematic chain. In this paper we introduce co-operative robotic control modes requiring a different form of manual guiding and their realisation in our experimental set-up.

关键词： Anthropomorphic robots

来源：评论

学校读者我要写书评

暂无评论

Evaluation criteria for human robot interaction

Evaluation criteria for human robot interaction

引用

AISB'05 Convention: Social Intelligence and Interaction in Animals, Robots and Agents - Symposium on Robot Companions: Hard Problems and Open Challenges in Robot-Human Interaction

作者： Burghart, Catherina R. Haeussling, Roger Institute of Process Control and Robotics University of Karlsruhe Germany Institute of Sociology University of Karlsruhe Germany

Human robot co-operation is an upcoming topic in robotics combining the characteristics of both human and robot in order to be able to perform co-operative tasks in a human-robot team. Normally, engineers start developing a co-operative robotic system with the aim of creating an intuitive interface for the user to interact with the robot, yet important social parameters for the intuitive interaction between robot and human partner are seldom contemplated. As sociology offers various methods to describe and evaluate the interaction between humans and between humans and machines, we have joined forces to apply these methods to human robot co-operation. Combining both sociological and technical parameters we have created a classification scheme for the analysis of human robot co-operation which is presented in this paper. This classification scheme was then applied in a field study evaluating four different methods to co-operatively carry a wooden bar with a robot;the results are also discussed in this paper.

关键词： Human robot interaction

来源：评论

学校读者我要写书评

暂无评论

High intensity approach light system in image-guided surgery

引用

International Congress Series 2005年 1281卷 543-547页

作者： Marmulla, Rüdiger Hoppe, Harald Mühling, Joachim Eggers, Georg Department for Cranio-Maxillofacial Surgery University of Heidelberg Germany Institute for Process Control and Robotics University of Karlsruhe Germany

The new developed navigation system HIALS is a High Intensity Approach Light System for image-guided surgery. The surgeon follows the projected approach lights with his ordinary surgical instruments. Thus, tracked ins... 详细信息

关键词： Calibration Computer-assisted surgery Patient registration Structured light Surgical navigation

来源：评论

学校读者我要写书评

暂无评论

Integration of a surgical robot and intraoperative imaging

引用

International Congress Series 2005年第0期1281卷 595-599页

作者： Knoop, H. Peters, H. Raczkowsky, J. Eggers, G. Rotermund, F. Wörn, H. Institute for Process Control and Robotics Universität Karlsruhe (TH) Germany Department of Cranio-Maxillofacial Surgery University Clinic Heidelberg Germany

The operating room installation at the department of cranio-maxillofacial surgery at the University Clinic Heidelberg consists of an operating table moving on rails in the floor (AWIGS, MAQUET GmbH and Co. KG, Rastatt), together with a sliding gantry computer tomograph (CT Emotion, SIEMENS, Erlangen, both Germany). With this setup of intraoperative imaging, we want to overcome the limits of marker screw registration that acts as the golden standard for robotic registration. The first robotic intervention performing a complex trajectory at the human skull was fulfilled by a modified Staeubli RX90 robot on a mobile platform. We adopted this robot for the setup with the intraoperative CT by using a gripper-change system with force-torque sensor measurement and an automatic registration algorithm. © 2005 CARS and Elsevier B.V.

关键词： Automatic registration Intraoperative imaging Surgical robot

来源：评论

学校读者我要写书评

暂无评论

Improving the real-time behaviour of a multithreaded Java microcontroller by control theory and model based latency prediction

Improving the real-time behaviour of a multithreaded Java mi...

引用

Workshop on Object-Oriented Real-Time Dependable Systems (WORDS)

作者： U. Brinkschulte M. Pacher Institute for Process Control and Robotics University of Karlsruhe Germany

Our aim is to investigate if it is possible to control and to stabilize the throughput (IPC rate) of a thread running on a multithreaded Java processor by a closed feedback loop and a model based latency predictor. We implemented a PID controller and a model based latency predictor in the processor simulator of the Komodo microcontroller developed at the universities of Karlsruhe and Augsburg to simulate both as additional hardware modules. GP (guaranteed percentage) scheduling is used to control the thread. Evaluations show that the aimed IPC rate of a thread is achieved by the controller and stabilized by the latency predictor thus improving the real-time capabilities of the Java processor.

关键词： Java Microcontrollers control theory Predictive models Delay Yarn Throughput Feedback loop Three-term control Educational institutions

来源：评论

学校读者我要写书评

暂无评论

建议与咨询留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

时间限定

文献类型

馆藏选择

核心期刊

语言

文献类型

帮助

文字说明：

检索规则说明：

检索范例：

分类表

所选分类

限定检索结果

文献类型

馆藏范围

日期分布

学科分类号

主题

机构

作者

语言

请选择保存的检索档案：

请选择收藏分类：

通借通还

建议与咨询 留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

时间限定

文献类型

馆藏选择

核心期刊

语言

文献类型

帮助

文字说明：

检索规则说明：

检索范例：

分类表

所选分类

限定检索结果

文献类型

馆藏范围

日期分布

学科分类号

主题

机构

作者

语言

请选择保存的检索档案： 新增检索档案 确定 取消

请选择收藏分类： 新增自定义分类 确定 取消

通借通还

建议与咨询留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

请选择保存的检索档案：

请选择收藏分类：