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AN ACTION-BASED process MODEL FOR DEXTEROUS MULTIFINGER HANDS

JOURNAL OF INTELLIGENT & ROBOTIC SYSTEMS 1991年第3期4卷 201-219页

作者： WOHLKE, G BRAUN, T 1. Institute for Real-Time Computer Control Systems and Robotics Faculty for Informatics University of Karlsruhe 7500 Karlsruhe Germany

In this article, the development of an action-based process model is described which was especially tailored to the needs of modelling and simulating multifinger hands. The research has been concerned with a description technique using constraints for modelling the working environment and with the design of an appropriate process model for simulating complex movements of manipulation objects with multifinger hands. The paper presents the results of an object-oriented approach to the proposed model and consists of two parts: a constraint net that describes the connections and relations between cell components (robots, grippers, objects) in the working environment and a propagation algorithm that computes the new locations regarding the modifications and logical dependencies.

关键词： SYSTEM SIMULATION process MODEL CONSTRAINT NET PROPAGATION ALGORITHM OBJECT-ORIENTED PROGRAMMING

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Dealing with unexpected situations during the execution of robot motions

Dealing with unexpected situations during the execution of r...

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IEEE International Conference on robotics and Automation (ICRA)

作者： M. Spreng Institute for Real-Time Computer Control Systems and Robotics University of Karlsruhe Karlsruhe Germany

The problem of a polygonal object moving in an uncertain polygonal environment, i.e. the positions and orientations of the objects relative to each other are not exactly known, is addressed. Furthermore, the moving object does not move exactly as it is commanded to move. Due to these uncertainties, even a motion generated by a correct motion planner may fail, i.e. for instance, an unexpected contact may occur. A situation analyzer that enables the moving object to acquire information on a contact situation is presented. This analyzer uses the nominal world model including information on the magnitude of the uncertainties in order to get hypotheses on the geometric entities involved in the contact. The discrimination among the hypotheses is based on test motions, i.e. motions whose feasibility depends on the validity of a certain subset of the hypotheses.< >

关键词： Uncertainty Testing Information analysis Robotic assembly real time systems Motion control Robot control control systems Solid modeling Environmental economics

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Situation analysis exploiting feasibility constraints in uncertain environments

Situation analysis exploiting feasibility constraints in unc...

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International Conference on Advanced robotics (ICAR)

作者： M. Spreng Institute of Real-Time Computer Control Systems and Robotics University of Karlsruhe Karlsruhe Germany

Deals with the problem of uncertainties in the nominal world model of a robot. In particular, the problem of analyzing unexpected situations in a 2D polygonal world is attacked. Such a situation analysis can be used to acquire information on a contact situation encountered during the execution of a motion. The analysis is based on the concept of so-called test motions, i.e. motions, the feasibility of which depends on the actual contact situation present. Using a probabilistic uncertainty model, the focus is on the computation of motion constraints due to contact and the resulting selection of an optimal test motion.< >

关键词： Uncertainty Motion analysis Testing Information analysis Robot sensing systems real time systems Robot control control systems Performance evaluation Sensor systems

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Development of an advanced robot for autonomous assembly

Development of an advanced robot for autonomous assembly

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IEEE International Conference on robotics and Automation (ICRA)

作者： A. Hormann U. Rembold Institute for Real-Time Computer Control Systems and Robotics (IPR) University of Karlsruhe Karlsruhe Germany

As an example of an autonomous assembly robot, the mobile two-arm robot system KAMRO, is described. The system is capable of navigating within an assembly cell, of docking at a work table, and of executing an assembly according to a given plan. A series of successful experiments has demonstrated the completely autonomous operation of the system.< >

关键词： Robotic assembly robotics and automation Robot sensing systems Assembly systems real time systems Robot control control systems Mobile robots Intellectual property Navigation

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Model based maglev microrobotic motion control

Model based maglev microrobotic motion control

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IEEE International Conference on robotics and Automation (ICRA)

作者： J.D. Robichaux Southwest Research Institute Robotics and Automation Department Real-Time Robot Control Lab Purdue University USA

Exploratory laboratory investigations performed earlier in maglev microrobotics have initiated research to define an electromagnetic model and a mechanical model for precision model-based maglev motion control. An electromagnetic model was developed, and experiments were performed to validate the model for two types of active magnetic sources: a straight wire conductor and a flat printed-circuit-board trace. Two translational motion (one-dimensional) arrays were fabricated. A mechanical model was developed resembling the model of a spring-mass-damper system. High-speed motion videos were taken to measure actual displacements, velocities, and accelerations of a maglev microrobot in translational motion on each array. The experimental results confirmed both mechanical and electromagnetic models and to a large extent the use of printed-circuit board conductors to produce model-based translational motions.< >

关键词： Magnetic levitation Motion control Electromagnetic modeling Conductors Laboratories Wire Videos Displacement measurement Motion measurement Velocity measurement

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A programming and simulation environment for the karlsruhe dextrous hand

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robotics and Autonomous Systems 1990年第3期6卷 243-263页

作者： Wöhlke, G. Institute for Real-Time Computer Control and Robotics Faculty for Informatics University of Karlsruhe Karlsruhe7500 Germany

In this paper the development of a programming and simulation environment is described, which was especially tailored for programming of multifinger hands. The research has concerned with the programming of the Karlsruhe Dextrous Hand, a non-anthropomorphic three finger gripper with 9 degrees of freedom, which is being developed at our institute. The work presents the results of a task-oriented approach to the object manipulation problem and contains two main parts: a system programming module and an application programming module. This realization supports the interactive generation and evaluation of a hand program using graphical simulation. © 1990 Elsevier Science Publishers B.V.

关键词： Degrees of freedom (mechanics)

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Computer Aided Layout Planning for Robot Assembly Applications

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IFAC Proceedings Volumes 1990年第3期23卷 159-164页

作者： M. Huck Institute for Real-time Computer Control Systems and Robotics Faculty for Informatics University of Karlsuhe Karlsruhe FRG

This paper presents ROSI-Layout, a computer aided planning system for the generation of suitable workcell layouts for robot assembly applications. The idea is to derive first the spatial transformations for the product parts, which lead to the assembly of the final product. A global database provides the product data and the precedence graph. This information comes from product design and assembly planning. The design of spatial transformations is derived from constraints given by the geometric shape of the product parts and from rules that define how assembly with robots should be accomplished. This is followed by the generation of a suitable layout. A layout can be developed that is specially designed for the product to be assembled. During the entire planning session, the database manages all planning data and ensures consisteny. ROSI-Layout is an extension of the RObot Simulation system ROSI.

关键词： Computer-aided planning workcell design layout planning robot assembly robot simulation assembly planning work frame data model

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A concept for an intelligent and fault-tolerant robot system

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Journal of Intelligent and Robotic Systems 1988年第3期1卷 259-286页

作者： Hörmann, A. Hugel, Th. Meier, W. Institute for Real-Time Computer Control Systems and Robotics Faculty of Informatics University of Karlsruhe Karlsruhe Germany

A concept for the intelligent control of subsystems of a flexible assembly cell is presented. Unknown or uncertain data about the real world may lead towards failure during an assembly task. Therefore, a fault tolerant system must be capable of reacting immediately to error situations. Thus, the major topic of this paper is the dynamic handling of unforeseen situations during realtime activities. This will be achieved by combining sensor guided actions with an advanced autonomous supervision system. Experimental results will be derived from the mobile two-arm robot system KAMRO of the institute for real-time Computer control Systems and robotics, University of Karlsruhe, Federal Republic of Germany. © 1988 Kluwer Academic Publishers.

关键词： Computer control systems

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A robot action planner for automatic parts assembly

A robot action planner for automatic parts assembly

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1988 IEEE International Workshop on Intelligent Robots and Systems: Toward the Next Generation Robot and System, IROS 1988

作者： Hoermann, K. Rembold, U. Institute for Real-Time Computer Control Systems and Robotics University of Karlsruhe P.O.Box 6980 Karlsruhe7500 Germany

This paper describes a hierarchical robot action planning system for automatic assembly. Input to the system is a geometrical model of the parts to be assembled. The system provides a graphical editor to model the geometrical goal relationships between these parts. In the first step the ordering constraints between the different assembly operations are planned using a simulated disassembly of the final product. This results in a set of precedence graphs, which is used by the Action Sequence Planning Module to generate a gross plan to perform the overall assembly. In the next step this plan is refined by the Motion Planner. This involves Manipulator Path Planning, Fine Motion Planning and Grasp Planning. Output of the system is an executable robot action plan in an internal language. Using a Code Generation Module, different robot programming languages may be generated. © 1988 by the institute of Electrical and Electronics Engineers, Inc. (IEEE).

关键词： Assembly

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Machine Learning Strategies for Knowledge Acquisition in Autonomous Robot Systems

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IFAC Proceedings Volumes 1988年第16期21卷 5-15页

作者： R. Dillmann Institute for Real-Time Computer Control and Robotics University of Karlsruhe Karlsruhe FRG

Machine learning has been studied for more than 20 years. Most of the recent research contributions are basic and come from the areas of Cognitive Science and Artificial Intelligence. The classical domain of machine learning is related to vision and image analysis and image description. Since about five years there has been encreased activity to apply and to extend these general learning methods to really complex systems such as autonomous robots. The purpose of applied machine learning methods is to facilitate and to aid automatic construction and generation of knowledge based systems and to increase the system performance with time. Autonomous robot systems will operate in an unknown real environment and are based on the interaction of the basic system components such as action planner, plan executive and action monitor which need knowledge about the real world and knowledge about how to behave to reach a given goal. A robot system can learn if it is able to make changes and extensions in its behavioural control structure that enables it to better perform a given task. This includes acquisition of declarative procedural knowledge, the developement of manipulative and cognitive skills through instruction and practice as well as the organisation of knowledge into efficient representations. The purpose of automatic self-configurating or self-modifying representations is to make experience based knowledge available for possible future use in the context of increasing robot system performance. This paper reviews some general methods of machine learning application and some first results achieved to date.

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