The development of an advanced planning environment is described, which is especially tailored for the programming and simulating of complex assembly operations with multifinger robot hands. A new geometric-mechanic a...
详细信息
The development of an advanced planning environment is described, which is especially tailored for the programming and simulating of complex assembly operations with multifinger robot hands. A new geometric-mechanic approach to the problem of planning grasp parameters for multifinger hands is presented, which considers the constraints of pick-and-place operations in manipulation and insertion tasks. The planning method is subdivided into two successive steps for (1) grasp point planning assertion object reachability and task feasibility, and (2) grasp force planning asserting object stability and grip security. The planning process is connected via a task concept and assembly specific language with the command executer of the planning system which controls both the motion emulation and force simulation.< >
A new product model that is particularly useful for model-based assembly planning is presented in this paper. The majority of the models used in this domain are simple approximations of the real workpiece and they are...
详细信息
A new product model that is particularly useful for model-based assembly planning is presented in this paper. The majority of the models used in this domain are simple approximations of the real workpiece and they are often dedicated to special algorithms. The model described here provides a more accurate and more flexible representation of workpieces. An increase in accuracy of the shape description was achieved by enhancing a polyhedral model with an analytical representation. The application of the model is demonstrated within the framework of assembly sequence planning.
The increasing use of computer based control systems in complex applications requires models and methods for specification and verification of both the temporal and functional behaviour. One promising approach is to u...
详细信息
Presents a neuro-fuzzy control approach for intelligent microrobots. Typical tasks of such industrial or medical robots are both exploration and fine manipulation, what demands task planning and motion/force control c...
详细信息
Presents a neuro-fuzzy control approach for intelligent microrobots. Typical tasks of such industrial or medical robots are both exploration and fine manipulation, what demands task planning and motion/force control capabilities. For this kind of microsystems the authors investigate the system technical aspects of information processing. The concept for the control system architecture is based on the combination of a neural network approach for the adaptation of process parameters and a fuzzy logic approach for the correction of parameter values given to a conventional controller. A planning component deals with the determination of initial manipulation parameters. Together with a sensor fusion procedure and a supervising and reasoning subsystem this allows reliable operation of a microrobot.< >
Due to the growing complexity and size of software systems, the development of correct and easy to maintain software has become more and more of a problem. This is especially true for distributed systems with real-tim...
详细信息
Due to the growing complexity and size of software systems, the development of correct and easy to maintain software has become more and more of a problem. This is especially true for distributed systems with real-time requirements. Therefore, great efforts have been made to overcome this problem. However, most approaches either do not consider every aspect of interest or are restricted to only one development phase. This paper describes OASIS, an open environment, that allows the integration of different analysis techniques in different system development phases, and presents the existing OASISI-toolset, that is already incorporated in this architecture.
In this paper the control architecture of the mobile robot system PRIAMOS is presented. It consists of four layers which integrate reactive and reflexive components in such a way that the robot can combine fast reacti...
详细信息
In this paper the control architecture of the mobile robot system PRIAMOS is presented. It consists of four layers which integrate reactive and reflexive components in such a way that the robot can combine fast reaction to unexpected obstacles with predictive behaviour to known components in the environnement. A solution for the problem bow to combine control layers which process information on different levels of abstraction and of increasing complexity is discussed. The reflexive part of the control architecture and the modification concerning the motion controller of the mobile robot which was necessary to apply the idea of reflexive navigation is described in more details. The architecture presented allows to execute motion tasks in partially unknown or changing environment in an efficient manner. Especially the time critical reflexive level is computationally less expensive than previous approaches
In this paper various approaches to synchronize leg movement of a walking machine are reported. Backpropagation-networks with diverse topologies, different types of encodings of information and of training methods are...
详细信息
In this paper various approaches to synchronize leg movement of a walking machine are reported. Backpropagation-networks with diverse topologies, different types of encodings of information and of training methods are investigated.
A new concept for navigation of mobile robots based on the planary coded environment (PLACER) is presented, which enables the coordination of several mobile robots in a real manufacturing environment. It is a path ind...
详细信息
A new concept for navigation of mobile robots based on the planary coded environment (PLACER) is presented, which enables the coordination of several mobile robots in a real manufacturing environment. It is a path independent external navigation system with passive environment structuring over the entire movement area of the robots. This area is completely covered with tiles, each containing the coordinates of its centre point inscribed using an error correcting code
暂无评论