检索结果-内蒙古大学图书馆

IEEE International Workshop on Intelligent Robots and Systems (IROS)

作者： A. Remde E. Pfaffenberger H. Worn Karlsruher Institut fur Technologie - Campus Nord Eggenstein-Leopoldshafen Baden-WÃ¼rttemberg DE Institute for Process Control and Robotics IPR Universität Karlsruhe Karlsruhe Germany

This paper deals with the robot handling of deformable linear objects (DLO), such as hoses, wires or leaf springs, based on contact state transitions and force/moment sensing. First, we describe the characteristic change of force and moment for all single-contact transitions which may occur between the DLO and a rigid polyhedron obstacle. Second, we discuss the sensor data processing for the automated detection of the state transitions.

关键词： Object detection Force sensors Hoses Springs Shape Robotic assembly Force measurement Robot sensing systems Wires Sensor systems

来源：评论

学校读者我要写书评

暂无评论

Manipulating deformable linear objects - contact states and point contacts

Manipulating deformable linear objects - contact states and ...

引用

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

来源：评论

学校读者我要写书评

暂无评论

Online path planning with optimal C-space discretization

Online path planning with optimal C-space discretization

引用

Proceedings. 1998 IEEE/RSJ International Conference on Intelligent Robots and Systems. Innovations in Theory, Practice and Applications (Cat. No.98CH36190)

作者： D. Henrich C. Wurll H. Worn Institute for Process Control and Robotics (IPR) Computer Science Department University of Karlsruhe Karlsruhe Germany

The paper is based on a path planning approach for industrial robot arms with 6 degrees of freedom in an online given 3D environment. It has online capabilities by searching in an implicit and discrete configuration space and detecting collisions in the Cartesian workspace by distance computation based on the given CAD model. Here, we present different methods for specifying the C-space discretization. Besides the usual uniform and heuristic discretization, we investigate two versions of an optimal discretization for a user-predefined Cartesian resolution. The different methods are experimentally evaluated. Additionally, we provide a set of 3-dimensional benchmark problems for a fair comparison of the path planner. For each benchmark, the run-times of our planner are between only 3 and 100 seconds on a Pentium PC with 133 MHz.

关键词： Path planning Service robots Orbital robotics Robotic assembly process control Intellectual property Computer science Defense industry Manipulators Runtime

来源：评论

学校读者我要写书评

暂无评论

6 DOF path planning in dynamic environments-a parallel online approach

6 DOF path planning in dynamic environments-a parallel onlin...

引用

IEEE International Conference on robotics and Automation (ICRA)

作者： D. Henrich C. Wurll H. Worn Institute for Process Control and Robotics (IPR) Computer Science Department University of karlsruhe Karlsruhe Germany

Presents an approach to parallel path planning for industrial robot arms with six degrees of freedom in an online given 3D environment. The method is based a best-first search algorithm and needs no essential off-line computations. The algorithm works in an implicitly discrete configuration space. Collisions are detected in the Cartesian workspace by hierarchical distance computation based on polyhedral models of the robot and the obstacles. By decomposing the 6D configuration space into hypercubes and cyclically mapping them onto multiple processing units, a good load distribution can be achieved. We have implemented the parallel path planner on a workstation cluster with 9 PCs and tested the planner for several benchmark environments. With optimal discretisation, the new approach usually shows very good speedups. In online provided environments with static obstacles, the parallel planning times are only a few seconds.

关键词： Path planning Orbital robotics Defense industry Service robots Parallel robots Manipulators Hypercubes Workstations Personal communication networks Testing

来源：评论

学校读者我要写书评

暂无评论

On-line path planning by heuristic hierarchical search

On-line path planning by heuristic hierarchical search

引用

Annual Conference of Industrial Electronics Society

作者： D. Henrich C. Wurll H. Worn Institute for Process Control and Robotics (IPR) Computer Science Department University of Karlsruhe Karlsruhe Germany

In this paper, the problem of path planning for robot manipulators with six degrees of freedom in an on-line provided three-dimensional environment is investigated. As a basic approach, the best-first algorithm is used to search in the implicit discrete configuration space. Collisions are detected in the Cartesian workspace by hierarchical distance computation based on the given CAD model. The basic approach is extended by three simple mechanisms and results in a heuristic hierarchical search. This is done by adjusting the stepsize of the search to the distance between the robot and the obstacles. As a first step, we show encouraging experimental results with two degrees of freedom for five typical benchmark problems.

关键词： Path planning Service robots Orbital robotics Robotic assembly Computational geometry Motion planning process control Intellectual property Computer science Manipulators

来源：评论

学校读者我要写书评

暂无评论

A New Driving Concept for a Mobile Robot

引用

IFAC Proceedings Volumes 1998年第2期31卷 101-106页

作者： R. Graf M. Rieder R. Dillmann Institute for Process Control and Robotics (IPR) University of Karlsruhe Kaiserstrasse 12 76128 Karlsruhe GERMANY Fax: ++49 721 608 7141

There are several driving concepts for mobile robots. The most propagated ones are differential and synchro drives. Both of them have their specific advantages and disadvantages. The new concept described in this paper deals with a new drive which combines the advantages of both systems without keeping the disadvantages. The system offers a nearly omni-directional movability with less effort than other solutions.

关键词： Mobile robots drives

来源：评论

学校读者我要写书评

暂无评论

Fast mapping using the log-Hough transformation

Fast mapping using the log-Hough transformation

引用

Proceedings. 1998 IEEE/RSJ International Conference on Intelligent Robots and Systems. Innovations in Theory, Practice and Applications (Cat. No.98CH36190)

作者： B. Giesler R. Graf R. Dillmann C.F.R. Weiman Institute for Process Control and Robotics(IPR) University of Karlsruhe Karlsruhe Germany HelpMate Robotics Inc. Danbury CT USA

Environment mapping is a very complex procedure that requires high CPU performance. For the last few years, laser scanners have become more and more important for mobile robots. Using their data requires many transformations between different coordinate systems. This new approach deals with a mapping within the coordinate system of the scanner, therefore it is very fast. The log-Hough transformation performs line finding in scans in a very efficient way, which speeds up mapping.

关键词： Robot kinematics Mobile robots Navigation Data mining Iterative algorithms Equations Joining processes Change detection algorithms process control Intellectual property

来源：评论

学校读者我要写书评

暂无评论

A distributed planning and control system for industrial robots

A distributed planning and control system for industrial rob...

引用

International Workshop on Advanced Motion control (AMC)

作者： C. Wurll D. Henrich H. Worn J. Schloen M. Damm W. Meier Institute for Process Control and Robotics (IPR) University of Karlsruhe Karlsruhe Germany Fa. AMS Waghausel Germany

A practical distributed planning and control system for industrial robots is presented. The hierarchical concept consists of three independent levels. Each level is modularly implemented and supplies an application interface (API) to the next higher level. At the top level, we propose an automatic motion planner. The motion planner is based on a best-first search algorithm and needs no essential off-line computations. At the middle level, we propose a PC-based robot control architecture, which can easily be adapted to any industrial kinematics and application. Based on a client/server principle, the control unit establishes an open user interface for including application specific programs. At the bottom level, we propose a flexible and modular concept for the integration of the distributed motion control units based on the CAN bus. The concept allows an online adaptation of the control parameters according to the robot's configuration. This implies high accuracy for the path execution and improves the overall system performance.

关键词： Distributed control control systems Electrical equipment industry Industrial control Service robots Automatic control robotics and automation Motion planning Robot control Computer architecture

来源：评论

学校读者我要写书评

暂无评论

A distributed control architecture for autonomous mobile robots - implementation of the Karlsruhe Multi-Agent Robot Architecture (KAMARA)

引用

Advanced robotics 1997年第4期12卷 411-431页

作者： Laengle, Thomas Lueth, Tim C. Rembold, Ulrich Woern, Heinz Institute for Process Control and Robotics (IPR) University of Karlsruhe Karlsruhe 76128 Germany

The main advantage of distributed controlled robots and subsystems is the decentralized task execution by the system components. In this way, properties for the design of flexible control architectures like modularity, fault-tolerance, integrability and extendibility are easily obtained;furthermore, it is possible to use the concepts of distributed knowledge and decentralized world representation. On the other hand, coordination between the components, e.g. path planning for collision avoidance between both manipulators in a two-arm system, is very difficult to *** explain these concepts, the Karlsruhe Autonomous Mobile Robot (KAMRO), which is being developed at our institute, is considered. The robot system consists of several subcomponents like two manipulators, hand-eye cameras, one overhead camera and a mobile platform. Extensions to the distributedcontrol architecture KAMARA (KArlsruhe Multi-Agent Robot Architecture) are described that are used to overcome coordination problems, e.g. as caused by the independent task execution of both manipulator systems. Furthermore, we explain in which way the decentralized world representation canbe used for parallel task execution. The intelligent control architecture described is used to replace the former control architecture of the autonomous robot KAMRO. The advantages of distributed control systems will be summarized through the actual implementation of the architecture to therobot KAMRO. © VSP and robotics Society of Japan 1997.

关键词：

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：