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International Conference on Industrial Electronics, control and Instrumentation

作者： U. Negretto U. Rembold R. Dillmann Institute for Real-time Computer Systems and Robotics USA University of Karlsruhe Karlsruhe Germany

The author presents a design methodology for high-level control of flexible manufacturing systems (FMSs). The design procedures are addressed for the control model specification, the process execution software and the monitoring functions. A functional classification hierarchy of the system resources is introduced which is used for the representation of object class types in generic predicate/transition subnets (Pr/T). The subnets can be parameterized to the instances of the object class types. They can be related through internal and external topology relations. The relations describe the interaction and the synchronization between the resources. The complete Pr/T-net is called the functional model of the FMS. It describes the concurrency and synchronization of the FMS. It is used for the discrete event driven control of the process. The indeterminacy problem in the Pr/T-net was solved with the help of a task scheduler and a task-to-primitive-operation structure. The Pr/T-net was implemented in Prolog.< >

关键词： Flexible manufacturing systems Job shop scheduling Production systems control design Design methodology Topology Process control Manufacturing industries Automation Automatic control

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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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Generating robot action plans by means of an heuristic search

Generating robot action plans by means of an heuristic searc...

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IEEE International Conference on robotics and Automation (ICRA)

作者： B. Frommherz G. Werling Campus-based Engineering Center (CEC) Digital Equipment GmbH Karlsruhe Germany Institute of Real-time Computer Systems and Robotics University of Karlsruhe Germany

A planning concept is proposed which meets the requirements of flexibility and simplicity of the resulting plan structures and efficiency of replanning. The concept is based on a heuristic search process (branch-and-bound) by which a plan generation tree containing (as nodes) the most promising solution graphs is partly developed. This is achieved by a heuristic evaluation function which estimates the quality of the intermediate plans during the plan synthesis phase. The concept is shown for the area of automatic assembly using a small assembly task as an example. A short description of a robot planning system which is based on the concept is included.< >

关键词： Robots Robotic assembly Power system planning real time systems Meeting planning Phase estimation robotics and automation Assembly systems Artificial intelligence Search methods

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A concept for distributed control systems

A concept for distributed control systems

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Annual Hawaii International Conference on System Sciences (HICSS)

作者： M. Glaser C. Kordecki U. Rembold Institute for Real-Time Computer Systems and Robotics University of Karlsruhe Karlsruhe Germany

HEROS (hierarchically extendible real-time operating system), which was developed and implemented for the control and supervision of robots, is described. It allows the dynamic creation of processes and their management. The processes in HEROS have no knowledge of their mutual existence and possess no global kernel routines or variables. The interprocess communication and synchronization is accomplished through a channel mechanism, using simple and effective functional calls. The uncoupling of processes attained through the channel concept enables the tasks to be defined and implemented independently and to be operated in parallel. HEROS is composed of several clusters connected through a local area network (LAN). Each cluster consists of several conventional single-board computers, a global memory, and a network controller.< >

关键词： Distributed control real time systems control systems Local area networks Service robots Multiprocessing systems Robotic assembly Electrical equipment industry Operating systems Communication system control

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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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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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Simulation of Vision in Robot Applications

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IFAC Proceedings Volumes 1988年第16期21卷 499-504页

作者： J. Raczkowsky K.H. Mittenbühler C. Fohler Institute for Real-Time Computer Control Systems and Robotics Faculty for Informatics University of Karlsruhe 7500 Karlsruhe FRG

This paper describes a method to simulate vision for use in robot applications. Our approach shows the physical modeling of the camera, the light sources and the objects within the scene based on a geometric model. Many parameters of the physical model may be adjusted to obtain simulation results close to reality. For processing of the picture data the SPIDER program is added to the simulation of the camera. Though a complete vision system is created. An example shows the simulation of a CCD-camera and a scene with workpieces taken from the ‘European Benchmark’ [COL85].

关键词： Sensors simulation robotics vision CAD modeling picture processing

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