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IEEE International Conference on robotics and Automation (ICRA)

作者： X. Cheng Institute for Real-Time Computer Systems ancl Robotics University of Karlsruhe Karlsruhe Germany

This paper presents a new approach for on-line collision-free path planning of a two-arm manipulator system, integrated in an on-line task-level planning system. For service and assembly tasks, pick and place operations are requested asynchronously by the action sequence planning. Collision-free paths for independent tasks are planning using a 2D geometric model in consideration of the swept regions by the robot arms and the pay loads during their motions. A dynamic, deadlock-free scheduling concept coordinates the robot motions in the case that a collision-free path for one arm can not be found at moment. The on-line path planning for two-arm cooperations for exchanging and regrasping parts incorporates an off-line connectivity analysis, avoiding both collisions and kinematic restrictions. The implemented on-line planning system can generate collision-free path for one manipulator while the other is moving. The time needed for motion planning is in the average case shorter and in the worst case comparable with that needed for motion execution. Experiments have been successfully conducted with the mobile two-arm robot KAMRO at the author's institute.

关键词： Path planning Motion planning Manipulators Robot kinematics Robotic assembly Solid modeling System recovery Dynamic scheduling Robot motion Mobile robots

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A parallel control computer structure for complex high speed applications

A parallel control computer structure for complex high speed...

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IEEE International Conference on Engineering of Complex computer Systems

作者： B. Magnussen Institute for Real-Time Computer Systems and Robotics Faculty for Computer Science University of Karlsruhe Karlsruhe Germany

With high speed control applications it is often very difficult to achieve the aspired timing of the control algorithm using just one processor. This is true especially if the system is complex or very large. In this paper we discuss advantages and disadvantages of a new system architecture using many processors of which each one is specialised for one part of the algorithm. A tailorable parallel computer architecture which we developed to cope with the problems of parallelisation of control algorithms is presented. Finally examples from the field of robotics and the performance of the prototype computer is presented.

关键词： Concurrent computing Application software control systems computer architecture Velocity control Hardware Communication system control Robot sensing systems computer science Timing

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Actuation in microsystems: problem field overview and practical example of the piezoelectric robot for handling of microobjects

Actuation in microsystems: problem field overview and practi...

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International Conference on Emerging Technologies and Factory Automation (ETFA)

作者： B. Magnussen S. Fatikow U. Rembold Inst. for Real-Time Comput. Syst. & Robotics Karlsruhe Univ. Germany Institute for Redl-Time Computer Systems and Robotics University of Karlsruhe Karlsruhe Germany

Microsystems, and in particular microrobots, require the development of new advanced actuators with very small dimensions, simple mechanical construction and high reliability. This paper presents an overview on the problem field of the microactuation and various kinds of actuation principles referring to the use of microrobots. To provide a microrobot with both the transportation and micromanipulation capabilities, various designs of piezoelectric actuators can be used. The piezoelectric robot for handling of microobjects (PROHAM) is proposed. The robot is equipped with three piezoelectrically driven legs, whereby it can move at a speed of several mm/sec. A manipulation tool, e.g. needle, pipette, gripper or glue applicator, can be mounted onto the robot's platform. The tool is driven by piezoelectric effect as well, and movements with an accuracy of 10 nm are possible. This allows the manipulation of very small objects under a microscope. The PROHAM can be used e.g. for the manipulation of biological cells, microassembly or testing of silicon chips.

关键词： Robots Transportation Piezoelectric actuators Legged locomotion Leg Needles Grippers Applicators Piezoelectric effect Microscopy

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Process automation using adaptive fuzzy control 2

Process automation using adaptive fuzzy control

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2nd New Zealand International Two-Stream Conference on Artificial Neural Networks and Expert Systems, ANNES 1995

作者： Hammerschmidt, O. Doersam, T. Inst. for Microcomput. and Autom. Karlsruhe Univ. Kaiserstr. 12 Karlsruhe0-76128 Germany Institute for Real-Time Computer Systems and Robotics Karlsruhe Univ. Kaiserstr. 12 Karlsruhe0-76128 Germany

ISBN: (纸本)0818671742

In process automation the control of plants with uncertainty or unknown parameters normally requires either a costly identification phase or an intensive fine-tuning of the controller. An easy adaptive fuzzy control is proposed which allows automatic controller tuning during operation with respect to desired closed loop behaviour. This adaptive control was added to the fuzzy kernel of an existing process automation system. Finally, experimental results of a three fingered robot gripper using this adaptive fuzzy control are presented. © 1995 IEEE.

关键词： controllers

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Process automation using adaptive fuzzy control

Process automation using adaptive fuzzy control

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New Zealand International Two-Stream Conference on Artificial Neural Networks and Expert Systems

作者： O. Hammerschmidt T. Doersam Institute for Microcomputers and Automation Department of Computer Science University of Karlsruhe Karlsruhe Germany Institute for Real-Time Computer Systems and Robotics Deparfmenf of Computer Science University of Karlsruhe Karlsruhe Germany

关键词： Programmable control Adaptive control Fuzzy control Automatic control robotics and automation Process control Uncertainty Fuzzy systems Kernel Grippers

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THE control ARCHITECTURE OF THE PRIAMOS MOBILE SYSTEM

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control ENGINEERING PRACTICE 1994年第2期2卷 341-346页

作者： DILLMANN, R KREUZIGER, J WALLNER, F Department of Computer Science University of Karlsruhe Institute for Real-Time Computer Control Systems and Robotics P.O. Box 6980 76128 Karlsruhe Germany

In this paper the control architecture of the PRIAMOS mobile robot system 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 environment. A solution for the problem of how 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 detail. The architecture presented allows motion tasks to be executed in partially unknown or changing environment in an efficient manner. Especially, the time-critical reflexive level is computationally less expensive than in previous approaches.

关键词： INTELLIGENT MACHINES NAVIGATION HIERARCHICALLY INTELLIGENT control ARCHITECTURE OBSTACLE AVOIDANCE ROBOTS SENSORS

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Steady‐state security evaluation of electrical power systems by means of artificial neural network

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European Transactions on Electrical Power 1995年第2期5卷 91-97页

作者： Chiodo, E. Menniti, D. Testa, A. Picardi, C. Elio Chiodo (1959) received the degree in Electronics Engineering in 1985 and the Ph.D. degree in Computational Statistics both from the University of Naplefltaly. He is a Researcher at the Department of Electrical Engineering of the University of Naples and a member of the Italian Statistical Society. His areas of interest include probabilistic methods applied to electric power systems analysis. (University of Naples Fedrrico 11. Electrical Engineering Dept.via Claudio 21 1-80125 Naplefltaly T +3981/7683226 Fax+3981/2396897) Daniele Menniti (1958) received the degree in Electrical Engineering from the University of Calabria. Cosenzataly and the Ph.D. degree in Electrical Engineering from the University of NapleslItaly in 1984 and 1989 respectively. He is a researcher at the Electronic. Computer and Systems Science Department of the University of Calabria. Italy. Hiscurrent research interests concern electric power system analysis real-time control and automation. (University of Calabria Electronic Computer and Systems Science Dep. Arcavacataji Rende (CS). 1-87036 CosenzdItaly T +39984/494707. Fax +39984/4947 13) Alfredo Testa (1950) received the degree in Electrical Engineering from the University of Naples/Italy in 1975. He is an Associate Professor in Electrical Power Systems at the Department of Electrical Engineering of the University of Naples. He is engaged in researches on electrical power systems reliability and harmonic analysis. (University of Naples Federico 11. Electrical Engineering Dep. via Claudio '2 1 1-80 I25 NapleslItaly T + 39 8 I/7 68 3'2 11. Fax+3981/2396897) Ciro Picardi (1949) received the degree in Electronics Engineering from the University of Naples/Italy in 1975. He is currently Associate Professor in Process Control at the Department of Electronic Computer and System Science of the University of Calabria. Italy. His current research interests are in the area of electrical drives robotics neural networks and fuzzy control. (University of Calabria Electronic. Compu

An artificial‐neural‐network (ANN) application for steady‐state security evaluation of electrical power systems is presented. Such application is based upon a combined use of a multilayer back‐propagation neural network and of an opportune electrical system model, previously proposed by some of the authors. In the paper, the definition of steady‐state security and the problems arising from its on‐line evaluation are briefly recalled. Then, the ANN utilized is described with particular reference to the solutions adopted by the authors. Afterwards, some remarks on the system model utilized are reported. Finally, numerical applications on the AEP‐14 bus system are presented and the results obtained with different ANN configurations are analyzed. Copyright © 1995 John Wiley & Sons, Ltd.

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Neural-based learning in grasp force control of a robot hand

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Annual Review in Automatic Programming 1994年第C期19卷 111-116页

作者： Fatikow, S Sundermann, K University of Karlsruhe Institute for Reed-Time Computer Control and Robotics D-76128 Karlsruhe Kaiserstraße 12 Germany

In this paper, we present a new control system for the intelligent force control of multifingered robot grips which combines both fuzzy-based adaptation level and a neural-based one with a conventional PID-controller. The most attention is given to the neural-based force adaptation level implemented by three-layered back-propagation neural networks. A computer based simulation system for the peg-in-hole insertion task is developed to analyze the capabilities of the neural controllers. Their behaviour is discussed by comparing them to conventional and fuzzy-based force controllers performing the same task. © 1995.

关键词： control systems force control fuzzy control neural nets Robots simulation

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A variable structure force controller for robotic manipulators

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IFAC Proceedings Volumes 1994年第14期27卷 481-486页

作者： I.E. Paromtchik M. Damm L.I. Matioukhina University of Karlsruhe Institute for Real-Time Computer Systems and Robotics D-76128 Karlsruhe Germany

Hybrid position/force control for robotic manipulators is considered. The control is carried out in task coordinates. For the force control the non-linear variable structure controller is presented and investigated. The controller maintains the system to reach and remain at the switching hypersurfaces, consisting of internal coordinates of the force controller. The stability of the system and the existing of the sliding mode are analyzed by means of the second Lyapunov method. The developed non-linear force controller was implemented for the hybrid position/force control of a PUMA 200 manipulator. The experimental setup and obtained results are described.

关键词： Position/force control robot variable structure systems stability

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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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