A fuzzy logic approach for the online grasp-force-adaptation, which can be used for the control of fine manipulating with a multifingered robot hand, will be presented in this paper. The kernel of this approach consis...
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A fuzzy logic approach for the online grasp-force-adaptation, which can be used for the control of fine manipulating with a multifingered robot hand, will be presented in this paper. The kernel of this approach consists of decision making logic which expresses the a-priory knowledge about the force behaviour inside the friction cones and the necessary reactions, regarding the criterion for grip stability. For the software realisation of the fuzzy control approach a Fuzzy-C Development System supporting the entire development process was used. Two corresponding fuzzy controllers have been designed: A finger controller and a grasp controller. During fine manipulations of an object the fuzzy controller interacts with an underlying conventional controller that receives, after defuzzyfication, the adapted force values which were applied. A computer based simulation system was developed to analyse the capabilities of the designed fuzzy controllers.< >
Besides the typical use of industrial robots in a manufacturing setting, new application areas for robots have been appearing during the past few years. In these areas, service robots perform general purpose activitie...
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Besides the typical use of industrial robots in a manufacturing setting, new application areas for robots have been appearing during the past few years. In these areas, service robots perform general purpose activities without requiring repeated high speed movements or other requirements of industrial robot applications. For the development of service robots, the use and integration of research results obtained in the autonomous robot field is much more necessary than for the development of robots used in manufacturing. Both, high autonomy during service performance and simple system access, which also means flexible programming or user-friendly system control is desired over an easily operated man/machine interface. In this paper, properties of service robots are defined and some similarities and differences between service robots and fully autonomous robots are explained. The enhancement of an existing autonomous assembly robot, which is made to be a flexible service robot for industrial environments, is considered. The paper concludes with a running experiment, which shows how this robot prototype is used for different tasks in a manufacturing line.< >
In this paper, a fuzzy environment includes obstacles in the vicinity of robot motion, which cannot be modelled exactly or are entirely unknown, and a vague description of the relationship between the robot and the ob...
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In this paper, a fuzzy environment includes obstacles in the vicinity of robot motion, which cannot be modelled exactly or are entirely unknown, and a vague description of the relationship between the robot and the obstacles. An integrated concept for solving the problem of motion planning and control of robots in fuzzy environments is proposed. First, critical points for the desired motion are found in a connectivity network on the boundary of static obstacles. By considering the degree of uncertainty of the obstacles, the local geometry, the available free space and the path shape, these points are further adjusted to form subgoals which reliably decide the global motion direction. During on-line motion execution, a fuzzy controller evaluates sensor data, realizes the motion towards subgoals and avoids local unexpected collisions. Simulations with mobile robots show some control results using this concept.< >
In this paper, a new natural language interface is presented that can be applied to make the use of intelligent robots more flexible. This interface was developed for the autonomous mobile two-arm robot KAMRO, which u...
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In this paper, a new natural language interface is presented that can be applied to make the use of intelligent robots more flexible. This interface was developed for the autonomous mobile two-arm robot KAMRO, which uses several camera systems to generate an environment model and to perform assembly tasks. A fundamental requirement in human-machine interaction for intelligent robots is the ability to refer to objects in the robot's environment. Hence, the interface and the intelligent system need similar environment models and it is necessary to provide current sensor information. Additional flexibility can be achieved by integrating the man-machine interface into control architecture of the robot and to give it an access to all internal information and to the models that the robot uses for an autonomous behaviour. In order to fully exploit the capabilities or a natural language access, we present a dialogue-based interface KANTRA, in which the human-machine interaction is not restricted to unidirectional communication.< >
In this paper, we present a neural-based force adaptation level of a multi-level system architecture for the intelligent force control of robotic grip systems. The control algorithms developed are implemented by three...
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In this paper, we present a neural-based force adaptation level of a multi-level system architecture for the intelligent force control of robotic grip systems. The control algorithms developed are 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.
This paper introduces into the general problem of manufacturing, discusses the impact and consequences of the growing internationalisation of markets and gives an overview of the trends in key technologies of manufact...
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This paper introduces into the general problem of manufacturing, discusses the impact and consequences of the growing internationalisation of markets and gives an overview of the trends in key technologies of manufacturing systems. Furthermore, this paper discusses especially the need for virtual factory concepts and intelligent manufacturing components for future CIM systems. The intelligence of the subsystems is required in large-scale manufacturing systems to master the problems that will result from the system’s complexity.
作者：
M. KaiserUniversity of Karlsruhe
Department of Computer Science Institute for Real-Time Computer Systems & Robotics Prof. Dr.-Ing. U. Rembold and Prof. Dr.-Ing. R. Dillmann D-76128 Karlsruhe Germany
This paper presents results regarding the Application of time-Delay Neural Networks (TDNNs), up to now mainly used in speech recognition, for control tasks. A set of examples taken from a model-based robot controller ...
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This paper presents results regarding the Application of time-Delay Neural Networks (TDNNs), up to now mainly used in speech recognition, for control tasks. A set of examples taken from a model-based robot controller is used to validate the suitability of the TDNN and to show its superiority to standard multilayer perceptrons. Afterwards, a new algorithm is presented that shows how the inherent capability of the TDNN to deal with time-variant signals can be employed to directly generate a TDNN from a PID control law. This synthesized neural controller is operational from the very beginning and can be tuned on-line using existing learning techniques. The advantages of this design procedure are shown for a simple control task.
Natural language, a primary communication medium for humans, facilitates better human-machine interaction and could be an efficient means to use intelligent robots in a more flexible manner. In this paper, we report o...
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The development of autonomous robots involves the imitation of human decision-making abilities with the aid of diverse sensor information. Fuzzy logic, which is based on fuzzy modelling and approximate reasoning, can ...
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The development of autonomous robots involves the imitation of human decision-making abilities with the aid of diverse sensor information. Fuzzy logic, which is based on fuzzy modelling and approximate reasoning, can be applied in different levels of control tasks. We first present the research results of applying fuzzy logic control in the motion execution of mobile systems and sensor-guided fine-motion of a manipulator. To realize real-time 'reactive' control, suitable hardware which supports the acceleration of fuzzy inference should be developed. The design and development of a VME-bus compatible fuzzy co-processor is also described.
This contribution presents results of a research project concerned with the planning and execution of motions in uncertain environments. In particular, the problem of a moving convex polygon within an uncertain two-di...
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This contribution presents results of a research project concerned with the planning and execution of motions in uncertain environments. In particular, the problem of a moving convex polygon within an uncertain two-dimensional environment has been investigated. The essential sub-problem of how to analyse unexpected contacts is treated. Using a set-oriented model of the uncertainties, the motion possibilities of the polygon is investigated for the different contact types. Also based on the model of the uncertainties, the potential locations of the geometric elements are constructed and intersected, giving us the contact hypotheses. With the help of exploratory motions, an attempt is made to decide between ambiguous hypotheses. The question of which exploratory motions are useful for the different contact types is also investigated. After an exploratory motion has been executed, its results must be evaluated with respect to the validity of the hypotheses. The system has been implemented and is also described in this paper.
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