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2nd New Zealand International Two-Stream Conference on Artificial Neural Networks and Expert systems, ANNES 1995

作者： Hammerschmidt, O. Doersam, T. Inst. for Microcomput. and Autom. Karlsruhe Univ. Kaiserstr. 12 Karlsruhe0-76128 Germany Institute for Real-Time Computer Systems and Robotics Karlsruhe Univ. Kaiserstr. 12 Karlsruhe0-76128 Germany

ISBN: (纸本)0818671742

In process automation the control of plants with uncertainty or unknown parameters normally requires either a costly identification phase or an intensive fine-tuning of the controller. An easy adaptive fuzzy control is proposed which allows automatic controller tuning during operation with respect to desired closed loop behaviour. This adaptive control was added to the fuzzy kernel of an existing process automation system. Finally, experimental results of a three fingered robot gripper using this adaptive fuzzy control are presented. © 1995 IEEE.

关键词： Controllers

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Actuation in microsystems: problem field overview and practical example of the piezoelectric robot for handling of microobjects

Actuation in microsystems: problem field overview and practi...

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International Conference on Emerging Technologies and Factory Automation (ETFA)

作者： B. Magnussen S. Fatikow U. Rembold Inst. for Real-Time Comput. Syst. & Robotics Karlsruhe Univ. Germany Institute for Redl-Time Computer Systems and Robotics University of Karlsruhe Karlsruhe Germany

Microsystems, and in particular microrobots, require the development of new advanced actuators with very small dimensions, simple mechanical construction and high reliability. This paper presents an overview on the problem field of the microactuation and various kinds of actuation principles referring to the use of microrobots. To provide a microrobot with both the transportation and micromanipulation capabilities, various designs of piezoelectric actuators can be used. The piezoelectric robot for handling of microobjects (PROHAM) is proposed. The robot is equipped with three piezoelectrically driven legs, whereby it can move at a speed of several mm/sec. A manipulation tool, e.g. needle, pipette, gripper or glue applicator, can be mounted onto the robot's platform. The tool is driven by piezoelectric effect as well, and movements with an accuracy of 10 nm are possible. This allows the manipulation of very small objects under a microscope. The PROHAM can be used e.g. for the manipulation of biological cells, microassembly or testing of silicon chips.

关键词： Robots Transportation Piezoelectric actuators Legged locomotion Leg Needles Grippers Applicators Piezoelectric effect Microscopy

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Process automation using adaptive fuzzy control

Process automation using adaptive fuzzy control

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New Zealand International Two-Stream Conference on Artificial Neural Networks and Expert systems

作者： O. Hammerschmidt T. Doersam Institute for Microcomputers and Automation Department of Computer Science University of Karlsruhe Karlsruhe Germany Institute for Real-Time Computer Systems and Robotics Deparfmenf of Computer Science University of Karlsruhe Karlsruhe Germany

关键词： Programmable control Adaptive control Fuzzy control Automatic control robotics and automation Process control Uncertainty Fuzzy systems Kernel Grippers

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THE CONTROL ARCHITECTURE OF THE PRIAMOS MOBILE SYSTEM

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CONTROL ENGINEERING PRACTICE 1994年第2期2卷 341-346页

作者： DILLMANN, R KREUZIGER, J WALLNER, F Department of Computer Science University of Karlsruhe Institute for Real-Time Computer Control Systems and Robotics P.O. Box 6980 76128 Karlsruhe Germany

In this paper the control architecture of the PRIAMOS mobile robot system is presented. It consists of four layers which integrate reactive and reflexive components in such a way that the robot can combine fast reaction to unexpected obstacles with predictive behaviour to known components in the environment. A solution for the problem of how to combine control layers which process information on different levels of abstraction and of increasing complexity is discussed. The reflexive part of the control architecture and the modification concerning the motion controller of the mobile robot which was necessary to apply the idea of reflexive navigation is described in more detail. The architecture presented allows motion tasks to be executed in partially unknown or changing environment in an efficient manner. Especially, the time-critical reflexive level is computationally less expensive than in previous approaches.

关键词： INTELLIGENT MACHINES NAVIGATION HIERARCHICALLY INTELLIGENT CONTROL ARCHITECTURE OBSTACLE AVOIDANCE ROBOTS SENSORS

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An approach to motion planning for mobile manipulation

An approach to motion planning for mobile manipulation

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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

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Extensive manipulation capabilities and reliable behavior at autonomous robot assembly

Extensive manipulation capabilities and reliable behavior at...

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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

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

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

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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

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A variable structure force controller for robotic manipulators

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IFAC Proceedings Volumes 1994年第14期27卷 481-486页

作者： I.E. Paromtchik M. Damm L.I. Matioukhina University of Karlsruhe Institute for Real-Time Computer Systems and Robotics D-76128 Karlsruhe Germany

Hybrid position/force control for robotic manipulators is considered. The control is carried out in task coordinates. For the force control the non-linear variable structure controller is presented and investigated. The controller maintains the system to reach and remain at the switching hypersurfaces, consisting of internal coordinates of the force controller. The stability of the system and the existing of the sliding mode are analyzed by means of the second Lyapunov method. The developed non-linear force controller was implemented for the hybrid position/force control of a PUMA 200 manipulator. The experimental setup and obtained results are described.

关键词： Position/force control robot variable structure systems stability

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From autonomous assembly robots to service robots for factories

From autonomous assembly robots to service robots for factor...

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

作者： U. Rembold T. Lueth T. Ogasawara Inst. for Real-Time Comput. Syst. & Robotics IPR Karlsruhe Univ. Germany Institute for Real-Time Computer Systems and Robotics IPR University of Karlsruhe Karlsruhe Germany Electro Technical Laboratory Tsukuba Ibaraki Japan

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.< >

关键词： Robotic assembly Service robots Production facilities Robot sensing systems robotics and automation Manufacturing industries Product design Sensor systems Air transportation real time systems

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Emulation of spline curves and its applications in robot motion control

Emulation of spline curves and its applications in robot mot...

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IEEE International Conference on Fuzzy systems (FUZZ-IEEE)

作者： J. Zhang J. Raczkowsky A. Herp Institute for Real-Time Computer Systems and Robotics University of Karlsruhe Germany

The paper presents the design of a fuzzy controller to emulate spline curves for generating smooth motion trajectories. Spline models and a fuzzy control model are compared. Based on this comparison, a fuzzy control model is devised to make the robot continuously pass through the planned subgoals guiding the robot motion. By analyzing primitive movements along subgoals, the rule base can be developed. System structures are proposed for applying this fuzzy controller in the hierarchical motion control of robot systems. Its applications in robot arms and mobile robots are also presented.< >

关键词： Emulation Spline Robot motion Motion control Robot control Fuzzy control Control systems Intelligent robots Fuzzy systems Robot sensing systems

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