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IEEE International Conference on systems, Man and Cybernetics

作者： S. Fatikow G. Wohlke Institute for Real-Time Computer Systems and Robotics Faculty for Informatics University of Karlsruhe Karlsruhe Germany

Presents a neuro-fuzzy control approach for intelligent microrobots. Typical tasks of such industrial or medical robots are both exploration and fine manipulation, what demands task planning and motion/force control capabilities. For this kind of microsystems the authors investigate the system technical aspects of information processing. The concept for the control system architecture is based on the combination of a neural network approach for the adaptation of process parameters and a fuzzy logic approach for the correction of parameter values given to a conventional controller. A planning component deals with the determination of initial manipulation parameters. Together with a sensor fusion procedure and a supervising and reasoning subsystem this allows reliable operation of a microrobot.< >

关键词： Intelligent control Medical control systems Intelligent robots Control systems Electrical equipment industry Industrial control Medical robotics Motion planning Force control Information processing

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The Control Architecture of the Mobile System Priamos

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IFAC Proceedings Volumes 1993年第1期26卷 391-396页

作者： R. Dillmann J. Kreuziger F. Wallner University of Karlsruhe Department of Computer Science Institute for Real-Time Computer Control Systems & Robotics P.O. Box 6980. 7500 Karlsruhhe 1 Germany

In this paper the control architecture of the mobile robot system PRIAMOS 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 environnement. A solution for the problem bow 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 details. The architecture presented allows to execute motion tasks in partially unknown or changing environment in an efficient manner. Especially the time critical reflexive level is computationally less expensive than previous approaches

关键词： Intelligent machines navigation hierarchically intelligent control architecture obstacle avoidance robots sensors

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Application of Error Correcting Codes to Navigation of Autonomous Mobile Robots in a CIM Environment

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IFAC Proceedings Volumes 1993年第1期26卷 247-252页

作者： D.E. Lazic V. Senk M. Rude G. Kandu University of Karlsruhe Computer Science Department Institute for Real Time Computing Systems and Robotics D-7500 Karlsruhe 1 Germany (Fellow of European Community - DG XII) University of Karlsruhe European Institute for System Security D-7500 Karlsruhe Germany University of Karlsruhe FZI-Forschungszentrum Informatik D-7500 Karlsruhe Germany Institute “Jozef Stefan” Jamova 39 SLO-Ljubljana Slovenia

A new concept for navigation of mobile robots based on the planary coded environment (PLACER) is presented, which enables the coordination of several mobile robots in a real manufacturing environment. It is a path independent external navigation system with passive environment structuring over the entire movement area of the robots. This area is completely covered with tiles, each containing the coordinates of its centre point inscribed using an error correcting code

关键词： Robots navigation position control error correction codes

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An integrated method for planning smooth collision-free trajectories for robot arms 3

An integrated method for planning smooth collision-free traj...

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3rd Annual Conference of AI, Simulation and Planning in High Autonomy systems

作者： Zhang, Jianwei Institute for Real-Time Computer Systems and Robotics Faculty of Computer Science University of Karlsruhe Germany

ISBN: (纸本)0818626755

A method for planning motions of robot arms is presented which considers not only the collision-avoidance but also robot's dynamic aspects. Based on the concept of configuration space, robot motions are planned at the topological and geometric level consecutively. At the topological level, the boundaries of the Configurationspace obstacles (C-obstacles) are computed and approximately represented while the complement of the C- obstacles, i.e. the free-space is divided into Empty Blocks (EBs). Linking all the connected EBs, we get a net called characteristic net. Given the initial and goal configuration of the robot, routes consisting of EBs (EB-routes) are searched in the characteristic net. At the geometric level, smooth trajectories are generated along EB-routes using B- splines while avoiding collisions with local C-obstacles. © 1992 IEEE.

关键词： Topology

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Representing Assembly Directions by Spherical Polygones

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IFAC Proceedings Volumes 1992年第28期25卷 106-110页

作者： Gerhard Werling Andreas Hug Institute for Real-time Computer Systems and Robotics University of Karlsruhe Karlsruhe Germany

The purpose of this paper is to present a method of extracting assembly directions for workpieces in an assembly set and to represent all these directions in an adequate manner. Local assembly directions are automatically derived from a CAD model of the assembly set and modeled as so-called direction figures. These direction figures can be uniquely represented by spherical polygons, the analog of planar polygons on the sphere. As it will be shown, it is possible to apply proven “planar” algorithms to spherical polygons. The algorithms presented in this paper solve, e.g. the problem of determining the intersection of two spherical polygons, the point-in-polygon test and the calculation of the centre of a polygon. Since the representation of assembly (or machining) directions is required by various manufacturing planning algorithms, a good solution to this problem is of considerable importance in the area of intelligent manufacturing systems.

关键词： assembly directions direction figures spherical polygons computational geometry modelbased assembly planning

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Automated planning of robot workcell layouts

Automated planning of robot workcell layouts

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IEEE International Conference on robotics and Automation (ICRA)

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

An approach for planning robot workcells fully automatically in three dimensions is presented. The automation is possible by carrying out the entire layout planning process in the configuration space. To obtain a good shop floor layout in a short time, the Cartesian configuration space and fast obstacle transformation routines are used. An optimization algorithm minimizes the length of all collision-free paths required for the performance of the workcell task. A final test of the generated workcell layout, whether it is valid or not, via graphical workcell task simulations is not required. This planning approach enhances the conventional layout planning process and reduces the necessity of user interaction.< >

关键词： robotics and automation Process planning Layout Orbital robotics Manufacturing automation Manufacturing processes Humans Process design real time systems Testing

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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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An Integrated Method for Planning Smooth Collision-Free Trajectories for Robot Arms

An Integrated Method for Planning Smooth Collision-Free Traj...

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Annual Conference of AI, Simulation, and Planning in High Autonomy Syslems

作者： Jianwei Zhang Institute for Real-Time Computer Systems and Robotics Faculty of Computer Science University of Karlsruhe Germany

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Online planning of action sequences for a two-arm manipulator system

Online planning of action sequences for a two-arm manipulato...

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IEEE International Conference on robotics and Automation (ICRA)

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

F/sub A/TE, an online task-level planning system for an advanced assembly robot consisting of two manipulators and a set of different sensors such as an overhead camera and force-torque sensors, is presented. The planning system takes an implicit description of the assembly task, plans a sequence of explicit robot commands and monitors the execution by the real-time robot control system. Because it runs completely online, the planning process is highly reactive using sensor information about the robot's present environment. This planning integrates as a key feature a dynamic mapping of assembly subtasks ready for execution onto the manipulators available at the moment. The system was implemented in Prolog on a SUN 4/75 SPARCstation running Unix.< >

关键词： Robotic assembly Sensor systems Robot sensing systems Manipulator dynamics Tellurium Robot vision systems Cameras Assembly systems real time systems Robot control

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Automated computer-Aided Layout Planning for Robot Workcells

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IFAC Proceedings Volumes 1992年第7期25卷 473-478页

作者： T.C. Lueth Institute for Real-Time Computer Systems and Robotics Faculty for Computer Science University of Karlsruhe Postfach 69 80 W-7500 Karlsruhe 1 Germany

This text presents an approach for planning robot workcells in three dimensions fully automatically. This automation is possible by a complete layout planning process inside the configuration space. To reach a sufficient shop floor layout in a short time, the cartesian configuration space and fast obstacle transformation routines are employed. An optimization algorithm minimizes the length of all collision free paths required for the performance of the workcell task. A final check by a graphical workcell task simulation, whether the layout is valid or not, is no longer required. This new planning approach enhances the conventional layout planning process and reduces the amount of necessary user interaction.

关键词： computer-aided planning workcell design layout planning collision-free path-planning cartesian configuration-space

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