检索结果-内蒙古大学图书馆

IEEE International Workshop on Intelligent Robots and systems (IROS)

作者： U.M. Nassal Institute for Real-Time Computer Systems Robotics IPR University of Karlsruhe (FZI) USA

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.< >

关键词： Control systems Robot sensing systems Mobile robots Vehicle dynamics Robotic assembly Gravity Motion planning Robot kinematics Manipulator dynamics real time systems

来源：评论

学校读者我要写书评

暂无评论

Extensive manipulation capabilities and reliable behavior at autonomous robot assembly

Extensive manipulation capabilities and reliable behavior at...

引用

IEEE International Conference on robotics and Automation (ICRA)

作者： T.C. Lueth U. Rembold Institute for Real-Time Computer Systems and Robotics IPR University of Karlsruhe Karlsruhe Germany

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.< >

关键词： Robotic assembly Service robots Power system reliability Mobile robots Electrical equipment industry Manufacturing industries Assembly systems Humans Large-scale systems Performance evaluation

来源：评论

学校读者我要写书评

暂无评论

A robot action planner for automatic parts assembly

A robot action planner for automatic parts assembly

引用

1988 IEEE International Workshop on Intelligent Robots and systems: Toward the Next Generation Robot and System, IROS 1988

作者： Hoermann, K. Rembold, U. Institute for Real-Time Computer Control Systems and Robotics University of Karlsruhe P.O.Box 6980 Karlsruhe7500 Germany

This paper describes a hierarchical robot action planning system for automatic assembly. Input to the system is a geometrical model of the parts to be assembled. The system provides a graphical editor to model the geometrical goal relationships between these parts. In the first step the ordering constraints between the different assembly operations are planned using a simulated disassembly of the final product. This results in a set of precedence graphs, which is used by the Action Sequence Planning Module to generate a gross plan to perform the overall assembly. In the next step this plan is refined by the Motion Planner. This involves Manipulator Path Planning, Fine Motion Planning and Grasp Planning. Output of the system is an executable robot action plan in an internal language. Using a Code Generation Module, different robot programming languages may be generated. © 1988 by the institute of Electrical and Electronics Engineers, Inc. (IEEE).

关键词： Assembly

来源：评论

学校读者我要写书评

暂无评论

Development of an advanced robot for autonomous assembly

Development of an advanced robot for autonomous assembly

引用

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

来源：评论

学校读者我要写书评

暂无评论

Range image registration for free-form surfaces using curvature information as invariance 9

Range image registration for free-form surfaces using curvat...

引用

9th European Signal Processing Conference, EUSIPCO 1998

作者： Rieder, Markus Guir, Nicolas Dillmann, R. Department for Computer Science Institute for Real-Time Computer Control Systems and Robotics University of Karlsruhe Karlsruhe76128 Germany Department of Computer Architecture University of Malaga Malaga Spain

A curvature based technique for fast range image registration is described in this work. With this technique the rotation and the displacement of a surface with respect to another one is calculated. The proposed algorithm uses Gaussian curvature information from each image point to extract a number of feature points. Two bounds are applied to the curvature values. Points with these bound curvature value are classified into two classes of feature points. In order to calculate the rotation angle between the two range images, the feature points are paired. That means the angle and the distance of the point pairs have to be transformed into a general view coordinate system. In the orientation matching procedure, we compare each pairing in the first image with each possible in the second one. This process is independent of the translation calculation which is calculated in a sequencing step. This pipelining principle speeds up the registration process if correspondences are calculated constantly.

关键词： Image registration

来源：评论

学校读者我要写书评

暂无评论

Task description, decomposition, and allocation in a distributed autonomous multi-agent robot system

Task description, decomposition, and allocation in a distrib...

引用

Proceedings of IEEE/RSJ International Conference on Intelligent Robots and systems (IROS'94)

作者： T.C. Lueth T. Laengle Insitute of Real Time Computer Systems and Robotics IPR University of Karlsruhe Karlsruhe Germany

In this paper a new intelligent control architecture for autonomous multi-robot systems is presented. Furthermore, the paper deals with task description, task distribution, task allocation and coordination of the system components. The main advantage of the new control architecture is the distributed execution of tasks or subtasks by components of the multi-robot system. The components are able to build teams dynamically thereby avoiding the bottle neck problem of the information flow in centralized controlled architectures. The communication and cooperation between components to achieve distributed organized control architectures is studied. The described intelligent control architecture is to replace the former control architecture of the autonomous robot KAMRO.< >

关键词： Intelligent robots Intelligent control Robot kinematics Communication system control computer architecture Control systems Multirobot systems Centralized control Distributed control Flexible manufacturing systems

来源：评论

学校读者我要写书评

暂无评论

A Comprehensive Approach for Planning and Control in Manufacturing systems

引用

IFAC Proceedings Volumes 1997年第1期30卷 81-86页

作者： B. Janusz W. Reithofer G. Grütter University of Karlsruhe Institute for Real-Time Systems and Robotics (IPR) Kaiserstr. 12 D-76128 Karlsruhe Germany

This paper describes results of the ESPRIT project HIMAC (Hierarchical Management and Control in Manufacturing systems). Within this project, several algorithms were developed and implemented: The planning algorithm concerns the minimization of the number of tools in a manufacturing system. The second algorithm is used for the definition of part families and resource groups. Regarding scheduling, an existing algorithm has been adapted and further improved to be applicable to the HIMAC specific representation. The implementation of the algorithms is based on the HIMAC theory, hence they use a common representation of a manufacturing system.

关键词： Algebraic approach hierarchies modelling optimization cheduling algorithms

来源：评论

学校读者我要写书评

暂无评论

A Process Oriented Method for the Reuse of CIM Models

引用

IFAC Proceedings Volumes 1997年第1期30卷 219-224页

作者： B. Janusz University of Karlsruhe Institute for Real-Time Systems and Robotics (IPR) Kaiserstr. 12 D-76128 Karlsruhe Germany

Enterprise models are used to support the solution of several organizational tasks. Although most of the existing modelling concepts were developed under the consideration of the aspect of process orientation, no methods exist which would prevent the user from creating a function oriented model. Beside this, once created models often cannot be reused for new tasks because the view on the enterprise described in the existing model does not correspond to the actual requirements. In the first part of this paper, a new approach is described, which helps to overcome these problems. In the second part, an optimization approach for the modelled process is proposed.

关键词： Enterprise modelling optimization

来源：评论

学校读者我要写书评

暂无评论

The Role of Models in Future Enterprises

引用

IFAC Proceedings Volumes 1997年第1期30卷 15-25页

作者： U. Rembold W. Reithofer B. Janusz University of Karisruhe Institute for Real-Time Systems and Robotics (IPR) Kaiserstr. 12 D-76128 Karlsruhe Germany

This paper describes 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, the need for models to support the design and reorganisation of CIM systems and Virtual Factories is discussed. Finally, particular approaches to solve such problems are introduced.

关键词： Enterprise Modelling CIMOSA Virtual Factory

来源：评论

学校读者我要写书评

暂无评论

Efficient TD3 based path planning of mobile robot in dynamic environments using prioritized experience replay and LSTM

引用

Scientific reports 2025年第1期15卷 18331页

作者： Yunhan Lin Zhijie Zhang Yijian Tan Hao Fu Huasong Min School of Computer Science and Technology Wuhan University of Science and Technology Wuhan 430081 China. Hubei Province Key Laboratory of Intelligent Information Processing and Real-time Industrial System Wuhan University of Science and Technology Wuhan 430081 China. Institute of Robotics and Intelligent Systems Wuhan University of Science and Technology Wuhan 430081 China. Institute of Robotics and Intelligent Systems Wuhan University of Science and Technology Wuhan 430081 China. mhuasong@***.

To address the challenges of sample utilization efficiency and managing temporal dependencies, this paper proposes an efficient path planning method for mobile robot in dynamic environments based on an improved twin delayed deep deterministic policy gradient (TD3) algorithm. The proposed method, named PL-TD3, integrates prioritized experience replay (PER) and long short-term memory (LSTM) neural networks, which enhance both sample efficiency and the ability to handle time-series data. To verify the effectiveness of the proposed method, simulation and practical experiments were designed and conducted. In the simulation experiments, both static and dynamic obstacles were included in the test environment, along with experiments to assess generalization capabilities. The algorithm demonstrated superior performance in terms of both execution time and path efficiency. The practical experiments, based on the assumptions from the simulation tests, further confirmed that PL-TD3 has improved the effectiveness and robustness of path planning for mobile robot in dynamic environments.

关键词： Long short-term memory (LSTM ) Path planning in dynamic environment Prioritized experience replay (PER) Reinforcement learning Twin delayed deep deterministic policy gradient (TD3) algorithm

来源：评论

学校读者我要写书评

暂无评论

建议与咨询留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

时间限定

文献类型

馆藏选择

核心期刊

语言

文献类型

帮助

文字说明：

检索规则说明：

检索范例：

分类表

所选分类

限定检索结果

文献类型

馆藏范围

日期分布

学科分类号

主题

机构

作者

语言

请选择保存的检索档案：

请选择收藏分类：

通借通还

建议与咨询 留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

时间限定

文献类型

馆藏选择

核心期刊

语言

文献类型

帮助

文字说明：

检索规则说明：

检索范例：

分类表

所选分类

限定检索结果

文献类型

馆藏范围

日期分布

学科分类号

主题

机构

作者

语言

请选择保存的检索档案： 新增检索档案 确定 取消

请选择收藏分类： 新增自定义分类 确定 取消

通借通还

建议与咨询留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

请选择保存的检索档案：

请选择收藏分类：