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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 Institute for Real-Time Computer Control Systems and Robotics Faculty for Informatics University of Karlsruhe 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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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 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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A MULTIAGENT APPROACH WITH DISTRIBUTED FUZZY-LOGIC control

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computerS IN INDUSTRY 1995年第3期26卷 219-227页

作者： BOHNER, P Institute for Real-Time Computer Systems and Robotics Faculty for Informatics University of Karlsruhe Kaiserstr. 12 76128 Karlsruhe Germany

The use of manipulator systems with many degrees of freedoms 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 according manipulator motions are then calculated by assigning 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 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 communicate to provide global suboptimality.

关键词： DEPENDENT AGENTS DISTRIBUTED AGENTS REACTIVE AGENTS PLAN-BASED AGENTS DISTRIBUTED control DISTRIBUTED ARTIFICIAL INTELLIGENCE

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A system for robot assisted maxillofacial surgery

A system for robot assisted maxillofacial surgery

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6th Conferenc on Medicine Meets Virtual reality, MMVR 1998

作者： Burghart, Catherina R. Muenchenberg, Jan E. Rembold, Ulrich Institute of Real-Time Computer Control Systems and Robotics University of Karlsruhe 76128 Karlsruhe Germany

ISBN: (纸本)9051993862

In maxillofacial surgery the quality of the surgical outcome mainly depends on the experience of the operating surgeon. Thus we intend to support the surgeon before and during surgery in order to enhance the surgical results. On the one hand this implies the use of image processing, three dimensional modelling techniques and visualization techniques of medical image data, on the other hand planning systems, intraoperative navigation devices and surgical robots are needed. In this paper a complex expert system is presented, which uses a planner for generating treatment plans, an infrared navigation for monitoring both patient, robot, and surgical tool, and a surgical robotic system in order to work on bone. Special stress is laid on the architecture of the planning system, the structure of the treatment plans, and the intraopertative communication protocols.

关键词： Robotic surgery

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Knowledgebased segmentation

Knowledgebased segmentation

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6th Conferenc on Medicine Meets Virtual reality, MMVR 1998

作者： Burghart, Catherina R. Pernozzoli, Arno Rembold, Ulrich Institute of Real-Time Computer Control Systems and Robotics University of Karlsruhe 76128 Karlsruhe Germany

ISBN: (纸本)9051993862

The segmentation of medical images like CT or MRI scans represents a great challenge to researchers in computer vision, due to the variability of the individual anatomy and the different characteristics of the scanning systems. As an anatomical knowledge base improves the recognition of structures in CT or MRI scans, we chose a knowledge based segmentation in our approach, which will be explained in the following.

关键词： computerized tomography

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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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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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The Karlsruhe Hand

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IFAC Proceedings Volumes 1988年第16期21卷 383-388页

作者： T.J. Doll H.-J. Schneebeli Institute for Real-Time Computer Control and Robotics Faculty for Informatics University of Karlsruhe 7500 Karlsruhe FRG

The Karlsruhe Hand is a non-anthropomorphic three finger dextrous gripper with 9 degrees of freedom, which is being developed at the institute for real-time computer control systems and robotics of the University of K... 详细信息

关键词： Robots artificial limbs multivariable control systems dextrous hands grippers

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The Karlsruhe dextrous hand: grasp planning, programming and real-time control

The Karlsruhe dextrous hand: grasp planning, programming and...

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IEEE International Workshop on Intelligent Robots and systems (IROS)

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

In this paper the framework of an intelligent control system of a multi-finger robot hand is described, that is especially tailored for sensor-based object handling and assembly. The research has concerned with the Karlsruhe dextrous hand, a modular three-finger hand with 9 degrees of freedom, independent finger modules and integrated sensors. The total system structure consists of three embedded subsystems, with a planning and supervisory system on the top, which has a blackboard-like architecture to exchange information with a distributed real-time control system that provides force/position control strategies for dextrous grasping and manipulating of arbitrary objects. A programming and simulation system supports the object/task-based description of all robot and gripper actions required to perform a specific operation.< >

关键词： Robot programming Robotic assembly Force control Intelligent control Robot sensing systems Intelligent robots Assembly systems Fingers Intelligent sensors Strategic planning

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