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IEEE International Symposium on Assembly and Manufacturing (ISAM)

作者： O. Rogalla R. Dillmann G. Frugoli M. Bordegoni Institute for Process Control & Robotics University of Karlsruhe Karlsruhe Germany Industrial Engineering Department University of Parma Parma Italy

Kinematic modelling of robots and flexible material simulation have been an important aspect in robotic research issues over the last years. In this article a new approach for the design of arbitrary gripper and robot architectures are presented. It is shown how these robot systems can be simulated based on the presented design structure. Further, the integration of flexible material simulation is displayed. A particle based object models are shown and the mathematical basics described. Finally, the integration of the flexible material simulation into the robot simulation software is given and evaluated.

关键词： Robots Materials handling Kinematics Solid modeling Object oriented modeling Manipulator dynamics Grippers Libraries Packaging Deformable models

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A multithreaded Java microcontroller for thread-oriented real-time event-handling

A multithreaded Java microcontroller for thread-oriented rea...

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International Conference on Parallel Architecture and Compilation Techniques (PACT)

作者： U. Brinkschulte C. Krakowski J. Kreuzinger T. Ungerer Institute of Process Control Automation and Robotics University of Karlsruhe Karlsruhe Germany Institute of Computer Design and Fault Tolerance University of Karlsruhe Karlsruhe Germany

We propose a multithreaded Java microcontroller (called Komodo microcontroller) with a new hardware event handling mechanism that allows handling of simultaneous overlapping events with hard real-time requirements. Real-time Java threads are used as interrupt service threads (ISTs) instead of interrupt service routines (ISRs). Our proposed Komodo microcontroller supports multiple ISTs with zero-cycle context switching overhead. We evaluate the basic architectural attributes using real-time event parameters of an autonomous guided vehicle. When calculating the maximum vehicle speed without violating the real-time constraints, ISTs dominate ISRs by a speed increase of 28%.

关键词： Java Microcontrollers Switches Embedded system Yarn Application software Real time systems Hardware Multithreading process control

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An efficient image processing algorithm for high-level skill acquisition

An efficient image processing algorithm for high-level skill...

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IEEE International Symposium on Assembly and Manufacturing (ISAM)

作者： J. Gonzalez-Linares N. Guil P. Perez M. Ehrenmann R. Dillmann Department of Computer Architecture University of Màlaga Malaga Spain Institute for Process Control and Robotics University of Karlsruhe Karlsruhe Germany

This paper describes the set-up of the image processing system installed at the IPR in Karlsruhe. It will serve for sensor device in the programming by demonstration field. As a first application example, it is used as source for images in the demonstration of a bag packaging task. A detection algorithm that finds positions of infusion bags is presented. It was developed at the Department of Computer Architecture of the University of Malaga, and uses a straight line Hough transform after the application of a Canny filter. Then, the position of the rubber caps of the bags are located by a binarization technique to predicate the orientation of the bag. However, since the computing power is quite limited, the algorithms must have as low complexity as possible.

关键词： Image processing Robot sensing systems Robot programming Robotic assembly Cameras Intelligent robots Fingers Computer architecture Intellectual property Application software

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Planning of regrasp operations

Planning of regrasp operations

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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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Manipulating deformable linear objects - contact states and point contacts

Manipulating deformable linear objects - contact states and ...

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IEEE International Symposium on Assembly and Manufacturing (ISAM)

作者： D. Henrich T. Ogasawara H. Worn Institute for Process Control and Robotics (IPR) University of Karlsruhe Karlsruhe Germany Nara Institute of Science and Technology (NAIST) Graduate School of Information Science Nara Japan

The task of handling non-rigid one-dimensional objects by a robot manipulation system is investigated. To distinguish between different non-rigid object behaviors, five classes of deformable objects from a robotic point of view are proposed. Additionally, an enumeration of all possible contact states of one-dimensional objects with polyhedral obstacles is provided. Finally, the qualitative motion behavior of linear objects is analyzed for stable point contacts. Experiments with different materials validate the analytical results.

关键词： Deformable models Cables Robot motion Shape measurement process control Intellectual property Wires Assembly Production Motion control

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Joint controller for the object-pose controlling on multifinger grippers

Joint controller for the object-pose controlling on multifin...

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IEEE/ASME (AIM) International Conference on Advanced Intelligent Mechatronics

作者： T. Fischer D. Rapela H. Woern Department of Computer Science Institute for Process Control and Robotics University of Karlsruhe Karlsruhe Germany Karlsruher Institut fur Technologie - Campus Nord Eggenstein-Leopoldshafen Baden-WÃ¼rttemberg DE

A human hand as a very complex grasping tool can handle objects of different sizes and shapes. Many research works have been done to develop artificial robot hands with similar capabilities to a human hand, such a robot hand is also called a multifinger gripper. Most parts of this research are dedicated to control of multifinger grippers with emphasis on the finger tips or finger joints. By controlling a multifinger gripper, we enable the gripper to handle an object; in another words, controlling a multifinger gripper can be viewed in terms of controlling an object's pose and the forces between the object and its environment. Hence, an object-pose controller with feedback from an object pose sensor suits multifinger gripper control. Also due to the non-linear dynamic system behavior in the joints of most multifinger grippers, an effective, easily-adaptable joint controller is employed. The paper discusses the object pose controller with great detail in a new joint controller. Since the joint controller is based on fuzzy and neural-network algorithms, we do not use an exact analytical model for this case.

关键词： Grippers Force control Humans Robots Fingers Grasping Shape Nonlinear dynamical systems Nonlinear control systems control systems

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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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control system for motion control of a piezoelectric micromanipulation robot

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Advanced robotics 1998年第6期13卷 577-589页

作者： Santa, Karoly Fatikow, Sergej Department for Computer Science Institute for Process Control and Robotics University of Karlsruhe Karlsruhe 76128 Kaiserstrasse 12 Germany

Abstraet-Micromanipulation by microrobots has become an issue of primary importance in industry and biomedicine, since human manual capabilities are restricted to certain tolerances. The manipulation of biological cells or the assembly of a microsystem composed of several microcomponentsare good examples. An automated microrobot-based micromanipulation desktop station has been developed at the University of Karlsruhe. The process of assembly takes place in the field of view of a light optical microscope. This paper focuses on motion control problems of the piezo-driven microrobotsemployed by the station. The ability to adapt itself to the process requirements is of great importance for micromanipulation robots. They must be able to operate in a partially defined environment and to ensure reasonable behavior in unpredicted situations. A neural control concept basedon a reference model is proposed as a solution. It is shown that the neural controller is able to learn the desired behavior. It considerably outperforms an analytically designed linear controller in the real environment. © 1998 Taylor & Francis Group, LLC.

关键词： control system Micromanipulation Microrobots MRAC-method Neural network

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Force sensing in microrobotic systems - An overview

Force sensing in microrobotic systems - An overview

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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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