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IEEE International Symposium on Intelligent control (ISIC)

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

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.< >

关键词： Robotic assembly Process planning Robot programming Motion planning Stability Security Assembly systems control system synthesis Force control Motion control

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A Hybrid Object Representation for Automatic Assembly Planning

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IFAC Proceedings Volumes 1993年第2期26卷 243-246页

作者： G. Werling H. Wild Faculty of Computer Science Institute for Real-Time Computer Systems and Robotics University of Karlsruhe Postfach 6980 7500 Karlsruhe 1 Germany

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.

关键词： Object representation assembling analytical models polyhedron boundary representation constructive solid geometry

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Intelligent robot hand control system using a tailorable parallel computer concept

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

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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

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A neuro-fuzzy control approach for intelligent microrobots

A neuro-fuzzy control approach for intelligent microrobots

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IEEE International Conference on systems, Man and Cybernetics

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

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.< >

关键词： Intelligent control Medical control systems Intelligent robots control systems Electrical equipment industry Industrial control Medical robotics Motion planning Force control Information processing

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

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

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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

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Automated computer-Aided Layout Planning for Robot Workcells

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IFAC Proceedings Volumes 1992年第7期25卷 473-478页

作者： T.C. Lueth Institute for Real-Time Computer Systems and Robotics Faculty for Computer Science University of Karlsruhe Postfach 69 80 W-7500 Karlsruhe 1 Germany

This text presents an approach for planning robot workcells in three dimensions fully automatically. This automation is possible by a complete layout planning process inside the configuration space. To reach a sufficient shop floor layout in a short time, the cartesian configuration space and fast obstacle transformation routines are employed. An optimization algorithm minimizes the length of all collision free paths required for the performance of the workcell task. A final check by a graphical workcell task simulation, whether the layout is valid or not, is no longer required. This new planning approach enhances the conventional layout planning process and reduces the amount of necessary user interaction.

关键词： computer-aided planning workcell design layout planning collision-free path-planning cartesian configuration-space

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Interactive generation of flexible robot programs

Interactive generation of flexible robot programs

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IEEE International Conference on robotics and Automation (ICRA)

作者： H. Friedrich J. Holle R. Dillmann Inst. for Real-Time Comput. Syst. & Robotics Karlsruhe Univ. Germany Institute for Real-Time Computer Systems & Robotics University of Karlsruhe Karlsruhe Germany

Service robots require interactive programming interfaces that allow users without programming experience to easily instruct the robots. systems following the programming by demonstration (PbD) paradigm that were developed within the last years are getting closer to this goal. However, most of these systems lack the possibility for the user to supervise and alter the course of program generation after the initial demonstration was performed. In this paper we present an approach, where the user is able to supervise the entire program generation process and to annotate, and edit system hypotheses. Moreover, the knowledge representation and algorithms presented enable the user to generalize the generated program by annotating conditions and object selection criteria via a 3D simulation and graphical user interface. The resulting PbD-system widens the PbD approach in robotics to the interactive generation of flexible robot programs based on demonstration and annotations.

关键词： Programming profession Robot programming Service robots Sensor phenomena and characterization Sensor systems real time systems Knowledge representation Graphical user interfaces Manipulators Educational programs

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AUTOMATED FABRIC INSPECTION BASED ON A STRUCTURAL TEXTURE ANALYSIS METHOD

AUTOMATED FABRIC INSPECTION BASED ON A STRUCTURAL TEXTURE AN...

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SATELLITE CONF AT THE 1988 BIANNUAL INTERNATIONAL CONF ON PATTERN RECOGNITION : RECENT ISSUES IN PATTERN ANALYSIS AND RECOGNITION

作者： TUFIS, I International Basic Laboratory for Image Processing and Computer Graphics Central Institute for Cybernetics and Information Processes Kurstr. 33 P.O.B. 1298 Berlin Germany Department of Robotics and Real Time Systems Research Institute for Computer Technique and Informatics B-dul Miciurin 8-10 Bucharest 1 71316 Romania

ISBN: (纸本)0387518150

An approach for applying a structural texture analysis method to automatic visual inspection of fabric samples in the textile industry is presented. The main steps (image preprocessing, image segmentation, model description and matching) to accomplish this task are described and also some conclusions are drawn from the preliminary experiments. © 1989, Springer-Verlag.

关键词： Image segmentation

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

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

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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

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3D-icon based user interaction for robot programming by demonstration

3D-icon based user interaction for robot programming by demo...

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IEEE International Symposium on Computational Intelligence in robotics and Automation (CIRA)

作者： H. Friedrich H. Hofmann R. Dillmann Inst. for Real-Time Comput. Syst. & Robotics Karlsruhe Univ. Germany Institute for Real-Time Computer Systems & Robotics IPR University of Karlsruhe Karlsruhe Germany

Within the last years the programming by demonstration (PbD) programming methodology gained more and more attention in robotics. However, a high quality way of human-robot interaction is crucial for a successful application of the PbD methodology in robotics. Hypotheses derived from the programming system, and control knowledge included in a generated robot program has to be checked back with and to be verified by the user in order to avoid potentially harmful errors that lead to faulty code. This paper describes a method for user-robot interaction that is based on 3D-icons and supports and facilitates the programming process in a robot programming by demonstration system significantly.

关键词： Robot programming Service robots Robot sensing systems control systems Sensor systems Humans Robustness real time systems Intellectual property Electronic mail

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