This paper presents the different possibilities for parallel processing in robot control architectures. Initially, the authors briefly review the historic development of control architectures. Then, a list of requirem...
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This paper presents the different possibilities for parallel processing in robot control architectures. Initially, the authors briefly review the historic development of control architectures. Then, a list of requirements for control architectures is set up from a parallel processing point of view. As their main topic, they identify the levels of parallel processing in robot control architectures. With each level of parallelism, examples for a typical robot control architecture are presented. Finally, a list of keywords is provided for each previous work the authors refer to.
The application of manipulators in unknown or rapidly changing environments requires fast sensors and data evaluation as well as reactive integration into the robot control system. This paper describes an artificial s...
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The application of manipulators in unknown or rapidly changing environments requires fast sensors and data evaluation as well as reactive integration into the robot control system. This paper describes an artificial sensitive skin mounted on a robot manipulator developed in order to achieve this purpose. Therefore, different principles for tactile sensing are evaluated. By totally covering a body with tactile sensors every contact may be detected immediately. When evaluated reactively local integration leads to the immediate contact termination by causing a movement of the related robot joint. On the other hand, the skin may be used to establish or improve a map of the environment by selecting and executing appropriate exploratory movements. Experimental results are included to demonstrate the feasibility of the developed sensory system.
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...
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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
Todays’ applications of manipulators in industry are restricted to environments which are known in advance and specially adapted to robots, as these manipulators are not flexible enough to move reliably in unknown or...
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Todays’ applications of manipulators in industry are restricted to environments which are known in advance and specially adapted to robots, as these manipulators are not flexible enough to move reliably in unknown or complex environments. In this paper, we present a multi-agent based reactive planning and control system for redundant manipulators. This approach enables the reactive motion of manipulators in an unknown environment. In the system described in this paper, an agent is responsible for calculating and controlling the motion of one joint, therefore it is called “joint agent”. A joint agent is responsible for evaluating the sensors on the according link, for calculating motions of the joint which minimize the distance of the endeffector to a cartesian goal and which avoid sensed obstacles. These local algorithms possess only small complexity compared to the algorithms needed for global optimal motion planning and can be calculated very fast. Thus reactive motions are possible. The agents are coordinated by communication. Additionally to the coordination by communication, a superior level is responsible for optimizing the agents’ actions by evaluating complexer criteria. Besides that, the local sensor data is integrated into a global model of the environment on this level. This paper concentrates on the local reactive level. Several local criteria in order to generate the reactive movements are presented. Our testbed, a redundant manipulator covered with tactile sensors, is presented in detail.
Performing fine manipulations with multifingered robot hands makes high demands on the control algorithms and the speed of the controlcomputer. Mainly non-linear friction problems and plant uncertainties require inte...
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A fuzzy control approach is proposed for controlling a mobile robot by effectively using the static knowledge of a partially-known environment and the dynamic sensor data. To describe the global structure of the stati...
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A fuzzy control approach is proposed for controlling a mobile robot by effectively using the static knowledge of a partially-known environment and the dynamic sensor data. To describe the global structure of the static environment, a tangent-graph is first constructed and a sequence of subgoals is generated for guiding the global path direction. During the execution of these subgoals, a motion executor using the concept of fuzzy control evaluates the sensor data and the robot current status, and adjusts the moving speed and direction of the robot.< >
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...
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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.< >
Increasing the flexibility of robot systems has been one of the main objectives of robotics research in recent years. There are various approaches to achieve this: increasing fault-tolerance, the development of new ac...
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Increasing the flexibility of robot systems has been one of the main objectives of robotics research in recent years. There are various approaches to achieve this: increasing fault-tolerance, the development of new actuators and sensors and the use of learning techniques. But the field of operation of such smart systems is still limited to a rather small area. Mobile manipulation is another facet of increasing the flexibility of a robot system. By exploiting the mobility of a platform, the dextrous workspace of manipulators can be considerably increased. One main research topic on mobile manipulation is the decomposition of the motion of the tool-centre-point into manipulator motion and platform motion. In this paper a new online approach to this decomposition is presented which allows the consideration of complex obstacles and multiple manipulators mounted on the platform. A focus of this paper is the presentation of a fuzzy-controller that enables the robot to perform manipulation and locomotion in an integrated manner.
Different powerful extensions and improvements of the control architecture of an autonomous robot are presented. They are used to increase the reliability of robot assembly and to reach a sufficient behavior. The deci...
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Different powerful extensions and improvements of the control architecture of an autonomous robot are presented. They are used to increase the reliability of robot assembly and to reach a sufficient behavior. The decision to use autonomous assembly robots in an industrial manufacturing setting depends mainly on the reliability of such a system and the extension of its manipulation capabilities. The Karlsruhe Autonomous Mobile Robot (KAMRO) is a robot system that is able to take on, and to execute, assembly tasks autonomously. Although the robot was able to work without human intervention within a limited scope, the reliability of the system was unfortunately not adequate for large-scale applications. This paper describes how the reliability has been improved and which experiments were performed to evaluate the concept.< >
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