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PLANNING OF SENSING TASKS IN AN ASSEMBLY ENVIRONMENT

JOURNAL OF INTELLIGENT & ROBOTIC SYSTEMS 1991年第3期4卷 221-254页

作者： WERLING, G 1. Institute for Real-Time Computer Control Systems and Robotics University of Karlsruhe D-7500 Karlsruhe Germany

The purpose of this paper is to give an overview of past and recent work on planning sensing strategies for vision sensors. To achieve an economic use of robots in manufacturing, their programs must provide a high degree of fault-tolerance, security, and robustness to prevent unforeseen errors. Model errors (also termed uncertainties) are one of the most frequent reasons for such undesirable events. Robot systems can be made more reliable and fault-tolerant by providing them with capabilities of error detection and recovery, or error prevention. The latter may be achieved by reducing model errors using tactile and non-tactile sensors. The quality of a robot program synthesized by a task-level programming system depends on the accuracy of the model, since all information that is not explicitly given by the programmer must be derived from it. This means that the following questions have to be answered by the automatic task planner in order to plan non-tactile sensing strategies: (1) When do I have to use sensors to reduce uncertainty about the real world? (2) What do I have to use them for? (3) How do I have to use them to achieve the necessary information within an acceptable period of time? There are very few systems which deal broadly with the problem of robust robot programs, whereas there are numerous works on detail aspects of the field. The main approaches will be introduced and discussed in more detail. Finally, a new concept for generating sensor-integrated robust robot programs will be proposed.

关键词： VERIFICATION TASK-LEVEL PROGRAMMING ROBOT VISION UNCERTAINTY ASSEMBLY PLANNING FAULT TOLERANCE CLASSIFICATION PREDICTION CAMERA LOCATION

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AN ACTION-BASED PROCESS MODEL FOR DEXTEROUS MULTIFINGER HANDS

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JOURNAL OF INTELLIGENT & ROBOTIC SYSTEMS 1991年第3期4卷 201-219页

作者： WOHLKE, G BRAUN, T 1. Institute for Real-Time Computer Control Systems and Robotics Faculty for Informatics University of Karlsruhe 7500 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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Model-based diagnosis of complex systems: Structuring and temporal reasoning

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Annual Review in Automatic Programming 1991年第PART 1期16卷 41-45页

作者： Hübner, T Institute for Real Time Computer Systems and Robotics Faculty of Computer Science University of Karlsruhe Karlsruhe Germany

Model-based diagnosis of industrial applications (i.e., complex systems) has to face a lot of problems inherent in complexity. Most applications involve thousands of components and are dynamic. The approach outlined in this paper is based on semantic nets representing causal and temporal knowledge to be used for fault diagnosis. A view-and a hierarchy-concept serve for structured modelling and focused diagnosis. An efficient diagnostic inference mechanism is based on a pre-computation phase, where diagnostic knowledge is restructured to grant efficient access operations during a diagnostic session phase. © 1992.

关键词： artificial intelligence causal reasoning expert systems Failure detection model-based modeling structuring temporal reasoning

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Dealing with unexpected situations during the execution of robot motions

Dealing with unexpected situations during the execution of r...

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IEEE International Conference on robotics and Automation (ICRA)

作者： M. Spreng Institute for Real-Time Computer Control Systems and Robotics University of Karlsruhe Karlsruhe Germany

The problem of a polygonal object moving in an uncertain polygonal environment, i.e. the positions and orientations of the objects relative to each other are not exactly known, is addressed. Furthermore, the moving object does not move exactly as it is commanded to move. Due to these uncertainties, even a motion generated by a correct motion planner may fail, i.e. for instance, an unexpected contact may occur. A situation analyzer that enables the moving object to acquire information on a contact situation is presented. This analyzer uses the nominal world model including information on the magnitude of the uncertainties in order to get hypotheses on the geometric entities involved in the contact. The discrimination among the hypotheses is based on test motions, i.e. motions whose feasibility depends on the validity of a certain subset of the hypotheses.< >

关键词： Uncertainty Testing Information analysis Robotic assembly real time systems Motion control Robot control control systems Solid modeling Environmental economics

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Situation analysis exploiting feasibility constraints in uncertain environments

Situation analysis exploiting feasibility constraints in unc...

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International Conference on Advanced robotics (ICAR)

作者： M. Spreng Institute of Real-Time Computer Control Systems and Robotics University of Karlsruhe Karlsruhe Germany

Deals with the problem of uncertainties in the nominal world model of a robot. In particular, the problem of analyzing unexpected situations in a 2D polygonal world is attacked. Such a situation analysis can be used to acquire information on a contact situation encountered during the execution of a motion. The analysis is based on the concept of so-called test motions, i.e. motions, the feasibility of which depends on the actual contact situation present. Using a probabilistic uncertainty model, the focus is on the computation of motion constraints due to contact and the resulting selection of an optimal test motion.< >

关键词： Uncertainty Motion analysis Testing Information analysis Robot sensing systems real time systems Robot control control systems Performance evaluation Sensor systems

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Development of an advanced robot for autonomous assembly

Development of an advanced robot for autonomous assembly

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IEEE International Conference on robotics and Automation (ICRA)

作者： A. Hormann U. Rembold Institute for Real-Time Computer Control Systems and Robotics (IPR) University of Karlsruhe Karlsruhe Germany

As an example of an autonomous assembly robot, the mobile two-arm robot system KAMRO, is described. The system is capable of navigating within an assembly cell, of docking at a work table, and of executing an assembly according to a given plan. A series of successful experiments has demonstrated the completely autonomous operation of the system.< >

关键词： Robotic assembly robotics and automation Robot sensing systems Assembly systems real time systems Robot control control systems Mobile robots Intellectual property Navigation

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Model-based diagnosis of complex systems: Structuring and temporal reasoning

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IFAC Proceedings Volumes 1991年第10期24卷 41-45页

作者： T. Hübner Institute for Real Time Computer Systems and Robotics Faculty of Computer Science University of Karlsruhe Karlsruhe Germany

Model-based diagnosis of industrial applications (i.e., complex systems) has to face a lot of problems inherent in complexity. Most applications involve thousands of components and are dynamic. The approach outlined in this paper is based on semantic nets representing causal and temporal knowledge to be used for fault diagnosis. A view and a hierarchy-concept serve for structured modelling and focused diagnosis. An efficient diagnostic inference mechanism is based on a pre-computation phase, where diagnostic knowledge is restructured to grant efficient access operations during a diagnostic session phase.

关键词： Failure detection artificial intelligence expert systems modeling causal reasoning temporal reasoning structuring model-based

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Elements of an advanced robot control system for assembly tasks

Elements of an advanced robot control system for assembly ta...

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International Conference on Advanced robotics (ICAR)

作者： X. Cheng D. Kappey J. Schloen Institute of Real-Time Computer Systems and Robotics University of Karlsruhe Karlsruhe Germany

One of the goals of robotic research is the development of robot systems that are capable of operating in the real world. Besides an intelligent control architecture, this requires a powerful sensor system to recognise the environment and a set of intelligent sensor-controlled strategies to react to the uncertain conditions of the real world. This paper first describes the system architecture of the robot system which is being developed at the institute for real-time computer Systems and robotics of the University of Karlsruhe and then concentrates on three aspects: knowledge-based image processing, generation of explicit robot actions and sensor-controlled assembly operations.< >

关键词： Robot control Assembly systems Robotic assembly Robot sensing systems computer architecture Intelligent control Sensor systems Intelligent robots Intelligent sensors real time systems

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Predicate/transition nets in FMS control

Predicate/transition nets in FMS control

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International Conference on Industrial Electronics, control and Instrumentation

作者： U. Negretto U. Rembold R. Dillmann Institute for Real-time Computer Systems and Robotics USA University of Karlsruhe Karlsruhe Germany

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.< >

关键词： Flexible manufacturing systems Job shop scheduling Production systems control design Design methodology Topology Process control Manufacturing industries Automation Automatic control

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Model based maglev microrobotic motion control

Model based maglev microrobotic motion control

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IEEE International Conference on robotics and Automation (ICRA)

作者： J.D. Robichaux Southwest Research Institute Robotics and Automation Department Real-Time Robot Control Lab Purdue University USA

Exploratory laboratory investigations performed earlier in maglev microrobotics have initiated research to define an electromagnetic model and a mechanical model for precision model-based maglev motion control. An electromagnetic model was developed, and experiments were performed to validate the model for two types of active magnetic sources: a straight wire conductor and a flat printed-circuit-board trace. Two translational motion (one-dimensional) arrays were fabricated. A mechanical model was developed resembling the model of a spring-mass-damper system. High-speed motion videos were taken to measure actual displacements, velocities, and accelerations of a maglev microrobot in translational motion on each array. The experimental results confirmed both mechanical and electromagnetic models and to a large extent the use of printed-circuit board conductors to produce model-based translational motions.< >

关键词： Magnetic levitation Motion control Electromagnetic modeling Conductors Laboratories Wire Videos Displacement measurement Motion measurement Velocity measurement

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