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Elements of an advanced robot control system for assembly tasks

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

引用

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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Building elementary robot skills from human demonstration

Building elementary robot skills from human demonstration

引用

IEEE International Conference on robotics and Automation (ICRA)

作者： M. Kaiser R. Dillmann Institute for Real Time Computer Systems & Robotics University of Karlsruhe Karlsruhe Germany

This paper presents a general approach to the acquisition of sensor-based robot skills from human demonstrations. Since human-generated examples cannot be assumed to be optimal with respect to the robot, adaptation of the initially acquired skill is explicitly considered. Results for acquiring and refining manipulation skills for a Puma 260 manipulator are given.

关键词： Humans Robot sensing systems real time systems Robot control Character generation Sensor phenomena and characterization

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A concept for distributed control systems

A concept for distributed control systems

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Annual Hawaii International Conference on System Sciences (HICSS)

作者： M. Glaser C. Kordecki U. Rembold Institute for Real-Time Computer Systems and Robotics University of Karlsruhe Karlsruhe Germany

HEROS (hierarchically extendible real-time operating system), which was developed and implemented for the control and supervision of robots, is described. It allows the dynamic creation of processes and their management. The processes in HEROS have no knowledge of their mutual existence and possess no global kernel routines or variables. The interprocess communication and synchronization is accomplished through a channel mechanism, using simple and effective functional calls. The uncoupling of processes attained through the channel concept enables the tasks to be defined and implemented independently and to be operated in parallel. HEROS is composed of several clusters connected through a local area network (LAN). Each cluster consists of several conventional single-board computers, a global memory, and a network controller.< >

关键词： Distributed control real time systems Control systems Local area networks Service robots Multiprocessing systems Robotic assembly Electrical equipment industry Operating systems Communication system control

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A new software environment for design of automated workcells

A new software environment for design of automated workcells

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IEEE International Conference on robotics and Automation (ICRA)

作者： B.G. Welz T.C. Lueth Institute for Real-Time Computer Systems and Robotics University of Karlsruhe Karlsruhe Germany

The authors present the automatic system configurator (ASC), a software environment for the design of automated workcells. ASC consists of a number of tools which provide support at various stages of the planning of complex machine tools and workcells. It contains three tools for configuration and one layout planning tool. The tools can be used and stand-alone basis or in an integrated fashion via an information management system. Each ASC tool is a contribution to CIM in its own right. The configuration tools are knowledge based and stress in particular the knowledge acquisition aspects. The layout planning can be fully automatic, taking into account kinematic aspects for the layout planning of robots cells.< >

关键词： Software design computer integrated manufacturing Machine tools Expert systems robotics and automation Process planning Information management Standards development real time systems Meeting planning

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A probabilistic method to analyze ambiguous contact situations

A probabilistic method to analyze ambiguous contact situatio...

引用

IEEE International Conference on robotics and Automation (ICRA)

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

An approach to analyzing ambiguous contact situations in an uncertain robotic environment is presented. When invoked by the occurrence of a contact, the analysis proceeds by generating a set of hypotheses on the contact, out of which the valid one is detected by testing the feasibility of certain motions, i.e., performing movability tests. Emphasis is placed on the generation of the hypotheses. All parts of the analysis are based upon the same probabilistic uncertainty model, which is given.< >

关键词： Testing Uncertainty Motion analysis real time systems Motion detection Performance evaluation Robot motion End effectors Information analysis Tactile sensors

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Design of a fuzzy controller for optimal execution of subgoal-guided robot motions

Design of a fuzzy controller for optimal execution of subgoa...

引用

IEEE International Conference on robotics and Automation (ICRA)

作者： Jianwei Zhang A. Herp Inst. for Real-Time Computer Systems and Robotics Karlsruhe Univ. Germany Institute for Real-Time Computer Systems and Robotics Department of Computer Science University of Karlsruhe Karlsruhe Germany

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 real time as well as a possibility of integrating sensor data for the subgoal-guided motion.< >

关键词： Fuzzy control Optimal control Motion control Path planning Orbital robotics Robot sensing systems Motion planning Collision avoidance Solid modeling Control systems

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Reactive multi-agent based control of redundant manipulators

Reactive multi-agent based control of redundant manipulators

引用

IEEE International Conference on robotics and Automation (ICRA)

作者： P. Bohner R. Luppen Institute for Real-Time Computer Systems & Robotics University of Karlsruhe Karlsruhe Germany

In this paper we present a reactive planning and control system for redundant manipulators based on multi-agents. It enables the reactive motion of manipulators in unknown environments by integrating sensor data. All agent is responsible for calculating and controlling the motion of one joint, therefore it is called "joint agent". The agents, their communication and coordination are presented in this paper. Results are demonstrated for a 7-DOF redundant manipulator covered with tactile sensors.

关键词： Manipulators Robot sensing systems Robot kinematics Path planning real time systems Motion planning Communication system control Control systems Tactile sensors Service robots

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real-time map refinement by fusing sonar and active stereo-vision

Real-time map refinement by fusing sonar and active stereo-v...

引用

IEEE International Conference on robotics and Automation (ICRA)

作者： F. Wallner R. Graf R. Dillmann Institute for Real-Time Computer Systems & Robotics University of Karlsruhe Karlsruhe Germany

A good map of its environment is essential for efficient task execution of a mobile robot. real time map update, especially in dynamic scenes is a difficult problem due to noisy sensor data and limited observation time. The paper describes a mapping procedure which identifies new obstacles in a scene and constructs a 3D surface model of it. This description is included in the geometrical map which robot navigation relies on. The mapping procedure is based on sonar range information and scenes reconstructed from stereo vision. The combination of sonar and stereo vision is advantageous, due to a complementary error characteristic concerning range and angular resolution. For sonar data integration the idea of local probability grids is proposed. Local grids which only cover areas where new obstacles are expected, reduce the complexity of grid based sonar data integration and can be applied to a dynamic environment. The partial models of an object that has been observed from different viewpoints are fused to a homogeneous description in a later step. A complex example shows the mapping procedure work robustly in dynamic indoor environments.

关键词： Sonar navigation Layout Stereo vision Mobile robots Working environment noise Surface reconstruction Robot sensing systems Sonar applications Robustness Indoor environments

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Motivation and Competitive Learning in a Social Robot

Motivation and Competitive Learning in a Social Robot

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IEEE/RSJ International Conference on Intelligent Robots and systems

作者： Dominguez, Salvador Zalama, Eduardo Garcia-Bermejo, Jaime G. Pulido, Jaime CARTIF Foundation Robotics Computer Vision and Real Time Division Boecillo Valladolid Spain University of Valladolid (Spain) Dep. of Systems Engineering and Automatic Control Industrial Engineering School Spain

ISBN: (纸本)9781424420575

This paper describes the motivation and learning subsystems of Arisco which is a mechatronic head with interactive capacity which includes high expressivity through gesturing, voice recognition, text to speech generation, visual tracking, and internet information retrieval. The general architecture is first described in the paper. Then, the learning capacity of Arisen is addressed. It learns and performs associations between different stimulus responses through several dynamic neural networks, guided by motivational drives. A number of experiments are discussed, covering stimulus competition, habituation, classical and operant conditioning.

关键词： Social robot learning interaction computer vision motivation

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Towards more realistic simulations of Ad-hoc networks - Challenges and opportunities

Towards more realistic simulations of Ad-hoc networks - Chal...

引用

作者： Moser, Steffen Slomka, Frank Institute of Embedded Systems/Real-Time Systems Faculty of Engineering and Computer Science Ulm University 89069 Ulm Germany

ISBN: (纸本)9781565553415

Vehicular Ad-hoc Networks are a very interesting self-organizing communication system that can make the traffic on our roads much safer. A lot of aspects of the behavior of these systems are studied using network simulation frameworks. While the upper communication layers of Vehicular Ad-hoc Networks are mainly simulated according to their specifications, in this paper we will highlight weak points in these simulations. They occur due the fact that the layers below the link layer are considered very rarely and are also almost neglected by the commonly used network simulation frameworks. This can potentially lead to inaccurate simulation results which can be fatal when studying safety relevant applications or application with real-time constraints. In this work in progress paper we are going to propose an approach to get this under control.

关键词： Vehicular ad hoc networks

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