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International Conference on Multisensor Fusion and Integration for Intelligent Systems (MFI)

作者： Michael Wenz Heinz Worn Institute for Process Control and Robotics (IPR) Universitat Karlsruhe Karlsruhe Germany

Traditional sensor networks assume that the sensors are pre-programmed and send their data to a central station where the data is aggregated and analysed. However, energy is a major bottleneck resource in wireless sensor networks, e.g. the lifespan of a node is often determined by its battery lifespan. Since each transmitted bit consumes network power it is necessary to reduce the number of sent messages by pre-processing data. Furthermore scalability issues also demand data processing inside the sensor network. After an introduction and the review of the state of the art with respect to data aggregation, three motivating applications are discussed and then the data aggregation problem is explored by means of event-based production rules. The basic constructs of our aggregation approach are facts, patterns, rules, actions and functions. More energy-rich nodes are used as cluster heads that perform rule-based data processing and aggregation operations within local regions of the network. Rules are usually application specific and provide robust interpretations of sensor readings including the generation of warnings. They are used to encode knowledge and to deal with large sets of rapidly changing data

关键词： Production Wireless sensor networks Sensor phenomena and characterization Intelligent sensors Data processing Intelligent networks Energy consumption Scalability Mobile communication Intelligent systems

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

Gentle robotic handling - adaptation of gripperorientation t...

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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

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The working principle of resistive tactile sensor cells

The working principle of resistive tactile sensor cells

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IEEE International Conference on Mechatronics and Automation

作者： K. Weiss H. Worn Institute for Process Control and Robotics IPR University of Karlsruhe Karlsruhe Germany

Tactile sensors systems are very important for today's service robotics. Designed as a holohedral cover for a robot, they are suitable for collision detection when working in unstructured environments, for human-machine interaction or, with a high resolution, as object sensors enabling dexterous hands for reactive gripping. In this paper, we explain construction and working principle of resistive tactile sensor cells. The latter is based on the change of the electrical resistance between a conductive polymer and at least two electrodes. For this effect, we formulate a model to describe the dependence between the sensor's electrical resistance and the applied load. The model enables further improvements of resistive tactile sensor cells.

关键词： Tactile sensors Robot sensing systems Optical sensors Optical polymers Optical scattering Ultrafast optics Intelligent sensors Electric resistance Electrodes Capacitive sensors

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Resistive tactile sensor matrices using inter-electrode sampling

Resistive tactile sensor matrices using inter-electrode samp...

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Annual Conference of Industrial Electronics Society

作者： K. Weiss H. Worn Institute for Process Control and Robotics (IPR) University of Karlsruhe Karlsruhe Germany

Tactile sensors can be used in many applications from object recognition in industrial grippers and medical devices to human-robot-interaction in service robotics. Among the different working principles of tactile sensors, the resistive is of particular interest. Those sensors are constructed in a simple way, are insensitive to shock and overdrive and can be designed with both, a high spatial resolution and a large sensing area. Conventional resistive tactile sensors are based on two electrode layers, located on opposed sides of a conductive polymer. Since this design has disadvantages affecting lifetime, we use a onesided contacting by the use of a regular electrode matrix. However, this increases the signal processing circuit's complexity. This paper introduces a novel kind of resistive tactile sensor matrix with an inter-electrode sampling technique for high speed measurements at an reduced number of electrodes and therefore a reduced complexity. The design of such sensor matrices is described and a method for comparing their performance based on the matrix efficiency is introduced. In addition, a working prototype was build and successfully tested.

关键词： Tactile sensors Sampling methods Electrodes Object recognition Grippers Service robots Robot sensing systems Medical robotics Electric shock Spatial resolution

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Development of a modular anthropomorphic robot hand using servohydraulic actuators

Development of a modular anthropomorphic robot hand using se...

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IEEE-RAS International Conference on Humanoid Robots

作者： K. Weiss H. Woern Institute of Process Control and Robotics (IPR) Technical University of Karlsruhe Karlsruhe Germany

Today's service robotics requires humanlike handling systems to interact with our everyday use items. In this paper we introduce the concept of a new modular anthropomorphic robot hand and describe our current work on its realization. Due to its modular architecture of a hand which shall be easily customizable to different applications ranging from handling systems for household helpers to robust finger grippers in factory automation. To drive the fingers, a servohydraulic approach for power transmission is used. Dedicated micro hydraulic cylinders are integrated in the finger segments to actuate the joints. They are driven by a position controlled piston pump. Due to the use of a PTFE enhanced surface coating, slip stick effects and friction are significantly reduced. Our prototype has shown, that the fingers are very robust and even water resistant. The low level control of the robot hand will be done by a reconfigurable system on chip, making future changes of the hardware's functionality possible without changing any printed circuits boards.

关键词： Anthropomorphism Actuators Fingers Robustness Human robot interaction robotics and automation Architecture Grippers Manufacturing automation Power transmission

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A new generation robot system for object picking

A new generation robot system for object picking

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International Conference on Multisensor Fusion and Integration for Intelligent Systems (MFI)

作者： M. Muller H. Worn Institute for Process Control and Robotics (IPR) University of Karlsruhe Karlsruhe Germany

Robot systems for object picking from unsorted heaps of objects (ROs) have been investigated for more than twenty years. Nevertheless, the developed systems are not flexible and reliable enough for the widespread requirements of today. The paper presents first a classification of ROs according to the manner of sensory acquisition and processing of knowledge about the scene. Based thereupon, a new generation robot system is introduced, which involves reliable object picking without unintended lifting and damaging of neighbouring objects, whereas a minimum of previous knowledge about the scene is required. The robot system was realized and tested successfully in the shipping department of a German catalogue sales company.

关键词： Layout Robot sensing systems Intelligent robots Artificial intelligence process control Intellectual property System testing Marketing and sales Employment Information processing

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Developing of compliant motion controller for robot manipulators

Developing of compliant motion controller for robot manipula...

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International Conference on Multisensor Fusion and Integration for Intelligent Systems (MFI)

作者： S.I. Stepanov H. Worn D. Osswald Institute for Process Control and Robotics (IPR) University of Karlsruhe Karlsruhe Germany

This paper presents the development of a compliant motion controller for robotic manipulators by using the armature current of its motors for a local work space. For this purposes we use the mathematical model of the brushless motor of the robot. The main objective is to develop algorithms for compliant motion control without the need for other than internal sensors, like displacement transducers and current sensors of motors. Additionally, a reduced robot model is presented which is sufficient for this purpose.

关键词： Motion control Robot control Manipulators Force control Robot sensing systems Sliding mode control Displacement control Orbital robotics Velocity control Sensor phenomena and characterization

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Flexible Mobile Microrobots for Various Remote-controlled Micro-Manipulating Tasks

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IFAC Proceedings Volumes 2001年第9期34卷 327-331页

作者： Jörg Seyfried Ferdinand Schmoeckel Axel Bürkle Heinz Wörn Institute for Process Control and Robotics (IPR) Computer Science Department Universität Karlsruhe (TH) Kaiserstrasse 12 D-76128 Karlsruhe Germany

The handling of objects smaller than 1 mm is a great challenge for the robotics research community. Applications are the handling of biological cells, teleoperation under vacuum conditions (e.g. inside a scanning electron microscope - SEM) or the manufacture of prototypes of microsystems. In this paper, some aspects of the control of small mobile microrobots by teleoperation are addressed. The employed 6D-mouse proves satisfactory as an intuitive user interface. A distributed control and planning architecture is presented as well as a closed-loop control approach basing on a sensor system that mainly consists of a standard SEM.

关键词： Microsystems Assembly robots Telemanipulation Biotechnology Microscopes

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Digital factory - planning and running enterprises of the future

Digital factory - planning and running enterprises of the fu...

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Annual Conference of Industrial Electronics Society

作者： H. Worn D. Frey J. Keitel Institute of process Control and Robotics IPR University of Karlsruhe Karlsruhe Germany

This paper describes an innovative approach to factory automation - the digital factory. The first part gives a short overview of current CIM (computer integrated manufacturing) and CAPE (computer-aided production engineering) tools. The second part specifies the concepts "virtual engineering", "digital mock-up" and "digital factory" and introduces a method which links several CIM/CAPE tools together using a shared product/process data management system. Finally, we present a new distributed, scalable, Internet-based tele-diagnosis and monitoring system for robots and robot cells.

关键词： Virtual manufacturing Computer integrated manufacturing Robots Manufacturing automation Computer aided manufacturing Production engineering Data engineering Engineering management Internet Computerized monitoring

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Laser measuring system for a flexible microrobot-based micromanipulation station

Laser measuring system for a flexible microrobot-based micro...

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IEEE International Workshop on Intelligent Robots and Systems (IROS)

作者： A. Buerkle S. Fatikow Computer Science Department Institute for Process Control and Robotics (IPR Universität Karlsruhe Karlsruhe Germany Computer Science Department Institute for Process Control and Robotics IPR Universität Karlsruhe Karlsruhe Germany

There is an increasing interest in performing assembly of microsystems by flexible microrobots. A microrobot-based microassembly desktop station has been developed at the University of Karlsruhe. In this paper, new implementation results of a computer vision based automatic control system of a mobile microrobot with an integrated flexible manipulator are discussed. The operations of the robot manipulator take place under a microscope equipped with a CCD-camera. A major drawback of this system is its lack of depth information. For this reason, the sensor system has been enhanced by a line laser, using laser triangulation. The set-up of the modified sensor system is described. The measuring principle is based on a method called sheet of light triangulation, a variation of standard triangulation. This approach is described in detail, and its advantages and limitations are discussed.

关键词： Manipulators Sensor systems Robotic assembly Microassembly Computer vision Automatic control Mobile computing Robot sensing systems robotics and automation Microscopy

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