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...
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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.
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 ...
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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.
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 environm...
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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.
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 effi...
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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.
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 effi...
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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. 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.
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 ran...
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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 convention...
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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.
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 hav...
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...
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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.
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