Path generation execution and motion control for an omnidirectional mobile robot (vehicle) are considered. real-time path generation is based on the polynomial spline-interpolation with prediction of velocities of a s...
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Path generation execution and motion control for an omnidirectional mobile robot (vehicle) are considered. real-time path generation is based on the polynomial spline-interpolation with prediction of velocities of a spline-function. The mobile vehicle control is performed with the use of its kinematic model and digital PID-controllers of the wheels. The theoretical approach is illustrated by the obtained experimental results.< >
In this paper, an approach is presented for designing a robot controller to integrate path planning and motion execution. Instead of following an exactly planned geometric path, which cannot be easily modified to deal...
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In this paper, an approach is presented for designing a robot controller to integrate path planning and motion execution. Instead of following an exactly planned geometric path, which cannot be easily modified to deal with uncertainties, a robot realizes its motion under the guidance of a sequence of grossly selected crucial points called subgoals. A fuzzy model is used for on-line controlling the robot to pass through the subgoals smoothly. With the help of heuristics for optimal motion control, the rule base can be developed. Such a concept provides a control method in realtime as well as a possibility of integrating sensor data for the subgoal-guided motion.< >
In the area of telerobotics, where remote systems are to be controlled, it is helpful to plan subsequent operations based on as much relevant data as possible. The simulation of the remote system, executed in parallel...
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In the area of telerobotics, where remote systems are to be controlled, it is helpful to plan subsequent operations based on as much relevant data as possible. The simulation of the remote system, executed in parallel, can provide additional information, otherwise difficult or impossible to retrieve from sensor feedback. In this paper, the integrated DiSCUS environment (Distributed Simulation and control in a Unix System) is presented, which is used for the simulation and the control of a small assembly cell. All (physical and logical) components are represented as stand-alone programs, as tasks. These tasks are distributed over a workstation network, so that "true" parallelism can be achieved.< >
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.< >
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 on different levels, the d...
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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 on different levels, the development of sophisticated sensors, grippers and manipulators, 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 dexterous workspace of manipulators can be considerably increased. One main research topic on mobile manipulation is the decomposition of the motion of the tool-center-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. Simulation studies verify the suitability of the approach. Some of the realized algorithms have been applied to a real mobile two-arm system.< >
作者：
Laengle, ThLueth, T.CUniversity of Karlsruhe
Faculty for Informatics Institute for Real-Time Computer Systems and Robotics 76128 Karlsruhe Prof. Dr.-Ing. U Rembold Prof. Dr.- Ing. R. Dillmann Germany
In a distributed robot system, asynchronous and synchronous communication between the system components is necessary to guarantee problem soliving capability in realtime. On that account, the distributed control archi...
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In this paper a new control system for the intelligent force control of multifingered robot grips is presented. The multi-level system architecture combines both fuzzy-based and a neural-based control algorithms. Afte...
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In this paper a new control system for the intelligent force control of multifingered robot grips is presented. The multi-level system architecture combines both fuzzy-based and a neural-based control algorithms. After defining the fine manipulation problem fuzzy and neural controller are developed. The demands of flexibility and real-timecontrol of the implementation of the control system are suited by a tailorable parallel computer concept. The basic ideas of the concept are to set up each processing element and the communication individually for its application
This paper presents an approach to integrated acquistion, evaluation, tuning, and execution of elementary skills in order to ease programming and employment of robots. To allow the use of machine learning techniques a...
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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-...
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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-timecontrol 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.< >
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...
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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.< >
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