检索结果-内蒙古大学图书馆

Neural-fuzzy force control using a TAI-lorable parallel computer concept

IFAC Proceedings Volumes 1994年第14期27卷 151-156页

作者： S. Fatikow B. Magnussen T. Doersam University of Karlsruhe Faculty for Informatics Institute for Real-Time Computer Systems and Robotics Kaiserstr. 12 76128 Karlsruhe Germany

In this paper a new control system for the intelligent force control of multifingered robot grips is presented. The multi-level system architecture combines both fuzzy-based and a neural-based control algorithms. After defining the fine manipulation problem fuzzy and neural controller are developed. The demands of flexibility and real-time control of the implementation of the control system are suited by a tailorable parallel computer concept. The basic ideas of the concept are to set up each processing element and the communication individually for its application

关键词： Force control fuzzy control neural nets real time computer systems parallel processing

来源：评论

学校读者我要写书评

暂无评论

Integrated acquisition, execution, evaluation, and tuning of elementary skills for intelligent robots

引用

Annual Review in Automatic Programming 1994年第C期19卷 117-122页

作者： Kaiser, M Giordana, A Nuttin, M Institute for Real-Time Computer Systems and Robotics University of Karlsruhe D-76128 Karlsruhe Germany Dipartimento di Informatica Universita di Torino I-10149 Torino Italy Division PMA Katholieke Universiteit Leuven B-3001 Leuven Belgium

This paper presents an approach to integrated acquistion, evaluation, tuning, and execution of elementary skills in order to ease programming and employment of robots. To allow the use of machine learning techniques as well as real-time execution of the skills, a twofold representation is developed. The individual learning tasks involved in the generation and maintenance of skills are identified and related to proper learning techniques. A programming environment and a low level architecture taking care of the different requirements during all phases of skill acquisition and execution are described. © 1995.

关键词： Fuzzy Control Man-Machine systems Neural Nets Programming Support Robots

来源：评论

学校读者我要写书评

暂无评论

Intelligent robot hand control system using a tailorable parallel computer concept

Intelligent robot hand control system using a tailorable par...

引用

IEEE International Workshop on Intelligent Robots and systems (IROS)

作者： S. Fatikow B. Magnussen Th. Dorsam Institute for Real Time Computer Systems and Robotics Faculty for Informatics University of Karlsruhe Karlsruhe Germany

Presents a control system for the intelligent force control of multifingered robot grips. The multilevel system architecture combines both a fuzzy-based adaptation level and a neural-based one with a conventional PID-controller that allows autonomous performance of fine manipulations of an object. Two kinds of fuzzy controllers are presented. They use a decision making logic which expresses the a priori knowledge about the grasp force behaviour inside the friction cones and the necessary reactions regarding the criterion for grip stability. A neural controller, based on a Hooke-Jeeves optimisation approach, has been developed as well. The neural control algorithm is implemented by a three-layered backpropagation neural network. The neural and fuzzy controllers can be used separately or in parallel. In the last case the neural controller can be on-line trained using the input-output information from the fuzzy one. A computer based simulation system for the peg-in-hole insertion task is developed to analyse and to compare the capabilities of both control algorithms. The demands of flexibility and real-time control of the implementation of the control system are suited by a tailorable parallel computer concept. The two basic ideas of the concept are to set up each processing element individually for its application and connect these elements with different communicational methods according to the applicational demands. As this happens before runtime the concept is called static flexibility and is implemented using a new mechanical computer structure.< >

关键词： Intelligent robots Robot control Control systems Fuzzy control Communication system control Force control Intelligent systems Intelligent control Multilevel systems Decision making

来源：评论

学校读者我要写书评

暂无评论

A multi-agent approach to distributed control for task-level programs for cooperating manipulators

A multi-agent approach to distributed control for task-level...

引用

IEEE International Workshop on Intelligent Robots and systems (IROS)

作者： P. Bohner Institute for Real-Time Computer Systems and Robotics Faculty for InfonnaticS University of Karlsruhe Karlsruhe Germany

The use of two or more robots in a common workspace is essential to expand the field of potential applications. This paper presents a distributed approach for executing task-level programs for cooperating manipulators or one arm systems with many degrees of freedom. At task level, only the movement of the objects to be manipulated is specified. The corresponding manipulator motions are then calculated by assigning the local intelligence to each joint. The local intelligence enables the joint agents to calculate in parallel their appropriate movements to make the end effector reach the desired position. During execution, each joint evaluates the sensor data to compensate for execution errors, to react on unexpected obstacles and to provide the manipulator coordination. Therefore, a distributed fuzzy rule base has been developed. As this local evaluation may lead to non-optimal overall behavior of the manipulator, the joint agents communications provide global suboptimality.< >

关键词： Distributed control Manipulators Mobile robots Robot kinematics Intelligent sensors Intelligent agent Control systems Error correction real time systems Distributed computing

来源：评论

学校读者我要写书评

暂无评论

Fuzzy-based grasp-force-adaptation for multifingered robot hands

Fuzzy-based grasp-force-adaptation for multifingered robot h...

引用

IEEE International Conference on Fuzzy systems (FUZZ-IEEE)

作者： T. Dorsam S. Fatikow I. Streit Institute for Real-Time Computer Systems awl Robotics Faculty for Informatics University of Karlsruhe Karlsruhe Germany

A fuzzy logic approach for the online grasp-force-adaptation, which can be used for the control of fine manipulating with a multifingered robot hand, will be presented in this paper. The kernel of this approach consists of decision making logic which expresses the a-priory knowledge about the force behaviour inside the friction cones and the necessary reactions, regarding the criterion for grip stability. For the software realisation of the fuzzy control approach a Fuzzy-C Development System supporting the entire development process was used. Two corresponding fuzzy controllers have been designed: A finger controller and a grasp controller. During fine manipulations of an object the fuzzy controller interacts with an underlying conventional controller that receives, after defuzzyfication, the adapted force values which were applied. A computer based simulation system was developed to analyse the capabilities of the designed fuzzy controllers.< >

关键词： Robots Fuzzy control Force control Fuzzy logic Kernel Decision making Friction Stability criteria Fingers Computational modeling

来源：评论

学校读者我要写书评

暂无评论

The Karlsruhe dextrous hand: grasp planning, programming and real-time control

The Karlsruhe dextrous hand: grasp planning, programming and...

引用

IEEE International Workshop on Intelligent Robots and systems (IROS)

作者： G. Wohlke Institute for Real-Time Computer Control Systems and Robotics Faculty for Informatics University of Karlsruhe Karlsruhe Germany

In this paper the framework of an intelligent control system of a multi-finger robot hand is described, that is especially tailored for sensor-based object handling and assembly. The research has concerned with the Karlsruhe dextrous hand, a modular three-finger hand with 9 degrees of freedom, independent finger modules and integrated sensors. The total system structure consists of three embedded subsystems, with a planning and supervisory system on the top, which has a blackboard-like architecture to exchange information with a distributed real-time control system that provides force/position control strategies for dextrous grasping and manipulating of arbitrary objects. A programming and simulation system supports the object/task-based description of all robot and gripper actions required to perform a specific operation.< >

关键词： Robot programming Robotic assembly Force control Intelligent control Robot sensing systems Intelligent robots Assembly systems Fingers Intelligent sensors Strategic planning

来源：评论

学校读者我要写书评

暂无评论

Object manipulation with dextrous multi-finger hands: improved computation method

Object manipulation with dextrous multi-finger hands: improv...

引用

IEEE International Workshop on Intelligent Robots and systems (IROS)

作者： G. Wohlke Institute for Real-Time Computer Control Systems and Robotics Faculty for Informatics University of Karlsruhe Karlsruhe Germany

This paper deals with the two fundamental problems that occur when objects are manipulated with multi-finger robot hands: the determination of the joint motions to perform a manipulation according to a given object trajectory, and the optimization of the joint torques needed to ensure a stable and secure grip. The consideration of the effect of rolling and slipping of the fingertips at the contact points on the object surface leads to a set of linear differential equations for the joint angles and to a partly nonlinear optimization problem for the joint torques solved by the Hooke-Jeeves algorithm. The removal of redundant information reduces the computational effort to about 40% of the operations required for the standard procedure. Especially, the resulting object motions are demonstrated at an example: the rotation of an ellipsoid object with the fingers of the Karlsruhe dextrous hand.< >

关键词： Robots real time systems Equations Motion control Control systems Fingers Grippers Automatic control Flowcharts Torque control

来源：评论

学校读者我要写书评

暂无评论

Task description, decomposition, and allocation in a distributed autonomous multi-agent robot system

Task description, decomposition, and allocation in a distrib...

引用

Proceedings of IEEE/RSJ International Conference on Intelligent Robots and systems (IROS'94)

作者： T.C. Lueth T. Laengle Insitute of Real Time Computer Systems and Robotics IPR University of Karlsruhe Karlsruhe Germany

In this paper a new intelligent control architecture for autonomous multi-robot systems is presented. Furthermore, the paper deals with task description, task distribution, task allocation and coordination of the system components. The main advantage of the new control architecture is the distributed execution of tasks or subtasks by components of the multi-robot system. The components are able to build teams dynamically thereby avoiding the bottle neck problem of the information flow in centralized controlled architectures. The communication and cooperation between components to achieve distributed organized control architectures is studied. The described intelligent control architecture is to replace the former control architecture of the autonomous robot KAMRO.< >

关键词： Intelligent robots Intelligent control Robot kinematics Communication system control computer architecture Control systems Multirobot systems Centralized control Distributed control Flexible manufacturing systems

来源：评论

学校读者我要写书评

暂无评论

From autonomous assembly robots to service robots for factories

From autonomous assembly robots to service robots for factor...

引用

Proceedings of IEEE/RSJ International Conference on Intelligent Robots and systems (IROS'94)

作者： U. Rembold T. Lueth T. Ogasawara Inst. for Real-Time Comput. Syst. & Robotics IPR Karlsruhe Univ. Germany Institute for Real-Time Computer Systems and Robotics IPR University of Karlsruhe Karlsruhe Germany Electro Technical Laboratory Tsukuba Ibaraki Japan

Besides the typical use of industrial robots in a manufacturing setting, new application areas for robots have been appearing during the past few years. In these areas, service robots perform general purpose activities without requiring repeated high speed movements or other requirements of industrial robot applications. For the development of service robots, the use and integration of research results obtained in the autonomous robot field is much more necessary than for the development of robots used in manufacturing. Both, high autonomy during service performance and simple system access, which also means flexible programming or user-friendly system control is desired over an easily operated man/machine interface. In this paper, properties of service robots are defined and some similarities and differences between service robots and fully autonomous robots are explained. The enhancement of an existing autonomous assembly robot, which is made to be a flexible service robot for industrial environments, is considered. The paper concludes with a running experiment, which shows how this robot prototype is used for different tasks in a manufacturing line.< >

关键词： Robotic assembly Service robots Production facilities Robot sensing systems robotics and automation Manufacturing industries Product design Sensor systems Air transportation real time systems

来源：评论

学校读者我要写书评

暂无评论

KANTRA-human-machine interaction for intelligent robots using natural language

KANTRA-human-machine interaction for intelligent robots usin...

引用

IEEE International Workshop on Robot and Human Communication (ROMAN)

作者： T.C. Lueth T. Laengle G. Herzog E. Stopp U. Rembold Institute for Real-Time Computer Systems and Robotics University of Karlsruhe Karlsruhe Germany Project VITRA-FB 14 Informatik University of Saarland Saarbrucken Germany

In this paper, a new natural language interface is presented that can be applied to make the use of intelligent robots more flexible. This interface was developed for the autonomous mobile two-arm robot KAMRO, which uses several camera systems to generate an environment model and to perform assembly tasks. A fundamental requirement in human-machine interaction for intelligent robots is the ability to refer to objects in the robot's environment. Hence, the interface and the intelligent system need similar environment models and it is necessary to provide current sensor information. Additional flexibility can be achieved by integrating the man-machine interface into control architecture of the robot and to give it an access to all internal information and to the models that the robot uses for an autonomous behaviour. In order to fully exploit the capabilities or a natural language access, we present a dialogue-based interface KANTRA, in which the human-machine interaction is not restricted to unidirectional communication.< >

关键词： Intelligent robots Robot sensing systems Natural languages Robotic assembly Man machine systems Intelligent sensors Mobile robots Robot vision systems Cameras Assembly systems

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：