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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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Parallel processing approaches in robotics

Parallel processing approaches in robotics

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IEEE International Symposium on Industrial Electronics (ISIE)

作者： D. Henrich T. Honiger Institute for Real Time Computer Systems and Robotics University of Karlsruhe Karlsruhe Germany

This paper presents the different possibilities for parallel processing in robot control architectures. Initially, the authors briefly review the historic development of control architectures. Then, a list of requirements for control architectures is set up from a parallel processing point of view. As their main topic, they identify the levels of parallel processing in robot control architectures. With each level of parallelism, examples for a typical robot control architecture are presented. Finally, a list of keywords is provided for each previous work the authors refer to.

关键词： Parallel processing Parallel robots Concurrent computing Robot control Automatic control computer architecture Control systems Costs Distributed control Very large scale integration

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Development of a Tactile Sensitive Skin

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IFAC Proceedings Volumes 1997年第7期30卷 315-320页

作者： Petra Bohner Michael Hoffmann Institute for Real-Time Computer Systems & Robotics University of Karlsruhe D-76128 Karlsruhe Germany. E-Mail:

The application of manipulators in unknown or rapidly changing environments requires fast sensors and data evaluation as well as reactive integration into the robot control system. This paper describes an artificial sensitive skin mounted on a robot manipulator developed in order to achieve this purpose. Therefore, different principles for tactile sensing are evaluated. By totally covering a body with tactile sensors every contact may be detected immediately. When evaluated reactively local integration leads to the immediate contact termination by causing a movement of the related robot joint. On the other hand, the skin may be used to establish or improve a map of the environment by selecting and executing appropriate exploratory movements. Experimental results are included to demonstrate the feasibility of the developed sensory system.

关键词： Tactile sensor system sensor-based control reactive control

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Redundant Manipulator Control Based on Multi-Agents

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IFAC Proceedings Volumes 1997年第7期30卷 321-326页

作者： Petra Bohner Reinhold Lüppen Institute for Real-Time Computer Systems & Robotics University of Karlsruhe D- 76128 Karlsruhe Germany. E-Mail

Todays’ applications of manipulators in industry are restricted to environments which are known in advance and specially adapted to robots, as these manipulators are not flexible enough to move reliably in unknown or complex environments. In this paper, we present a multi-agent based reactive planning and control system for redundant manipulators. This approach enables the reactive motion of manipulators in an unknown environment. In the system described in this paper, an agent is responsible for calculating and controlling the motion of one joint, therefore it is called “joint agent”. A joint agent is responsible for evaluating the sensors on the according link, for calculating motions of the joint which minimize the distance of the endeffector to a cartesian goal and which avoid sensed obstacles. These local algorithms possess only small complexity compared to the algorithms needed for global optimal motion planning and can be calculated very fast. Thus reactive motions are possible. The agents are coordinated by communication. Additionally to the coordination by communication, a superior level is responsible for optimizing the agents’ actions by evaluating complexer criteria. Besides that, the local sensor data is integrated into a global model of the environment on this level. This paper concentrates on the local reactive level. Several local criteria in order to generate the reactive movements are presented. Our testbed, a redundant manipulator covered with tactile sensors, is presented in detail.

关键词： Redundant manipulators reactive control multi-agents tactile sensor system

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Aspects of controlling a multifingered gripper

Aspects of controlling a multifingered gripper

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International Conference on Knowledge-Based Intelligent Electronic systems (KES)

作者： T. Doersam T. Fischer Department of Computer Science Institute for Real-Time Computer Systems and Robotics University of Karlsruhe Karlsruhe Germany

Controlling multifingered robot hands makes high demands on the control algorithms and the speed of the control computer. The nonlinear friction, the impact problem and other plant uncertainties require a special kind of control and tuning of the controller. Some simple linear and nonlinear controllers for the Karlsruhe Dexterous Hand are presented and the results and advantages of the controllers are shown. Also, a new adaptive fuzzy controller is presented to overcome the time consuming process of fine-tuning the membership functions. Finally, a short glance at the hardware platform is taken in order to show the control system architecture.

关键词： Grippers Friction Control systems Force control Fuzzy control Force measurement computer science real time systems Robot control Programmable control

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Distributed control architecture for intelligent systems

Distributed control architecture for intelligent systems

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Midwest Symposium on Circuits and systems (MWSCAS)

作者： T. Laengle T.C. Lueth U. Rembold H. Woern Institute for Real-Time Computer Systems and Robotics Faculty for Computer Science University of Karlsruhe Karlsruhe Germany

In contrast to a hierarchical and centralized structure, distributed or decentralized control architectures reveal their main advantages when it is necessary to enhance the system, to integrate components, and to maintain the system. The main disadvantage of not centralized architectures is having to make sure that the system will fulfill an overall or global goal. To investigate these problems, a distributed control architecture for intelligent systems was developed at the University of Karlsruhe. In this paper, the methods for dead-lock-free coordination and cooperation are explained.

关键词： Distributed control Intelligent systems Intelligent control Robot kinematics computer architecture Intelligent robots real time systems computer science Intelligent manufacturing systems Resource management

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Dynamic simulation of the jaw and chewing muscles for maxillofacial surgery

Dynamic simulation of the jaw and chewing muscles for maxill...

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IEEE Nonrigid and Articulated Motion Workshop

作者： T. Weingartner S. Hassfeld R. Dillmann Institute for Real-Time Computer Systems & Robotics Department for Computer Science University of Karlsruhe Karlsruhe Germany Medical Department Clinic for Oral and Maxillofacial Surgery University of Heidelberg Heidelberg Germany Department of Computer Science Institute for Real-Time Computer Systems& Robotics University of Karlsruhe Karlsruhe Germany

The need for simulation in medical environments increases with the complexity and risks of operations. Exact geometric planning is one of the main problems a surgeon has to deal with. The goal of the authors' research is the development of a graphical simulation of the human mastication system. Therefore, they are developing an integrated model of the jaw by parameterizing the bones (maxilla and mandible) and modeling the motion capabilities as well as the mastication muscles. The main focus of the paper is the introduction of a kinematic model of the temporomandibular joint and modeling of the mastication muscles. The kinematic model describes the geometrical and analytical movement of the jaw by specially defined axes. By modifying the axes or the geometrical model of the mandible, a surgeon can get a first impression of the post-operative result of, for example, a repositioning. Through integration of the muscles and muscle forces, one can even obtain a dynamic simulation of the whole mastication system.

关键词： Muscles Surgery Surges Computational modeling Medical simulation Kinematics Joints Tomography Pain real time systems

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Microrobot-Based Microassembly Station and Its Control Using a Graphical User Interface

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IFAC Proceedings Volumes 1997年第20期30卷 781-786页

作者： J. Seyfried S. Fatikow University of Karlsruhe Institute for Real-Time Computer Systems and Robotics (IPR) Kaiserstr. 12 (Geb. 40.28) D-76128 Karlsruhe F. R. of Germany Phone: +49-721-608-3656 Fax: +49-721-606740

In the fields of biology, microelectronics and microsystem technology many operations are today performed by hand which might also be done by micromanipulation robots. Several prototypes of such robots have already been built and tested, but in the field of control systems and user interfaces of such micromanipulation systems, there is still much work to be done. Different applications demand different levels of control and planning: easyier, single tasks may be performed by teleoperation, while others require a programmed motion sequence or even task planning to accomplish a complex assembly task a with minimum of human interaction. This paper presents a micromanipluation system consisting of a microassembly robot working under a light-optical microscope, a CCD camera and an XY-stage. Then, the software infrastructure for the microrobot control system is presented and the underlying hardware system is described. It also shows a user interface based on this structures, a semi-automated teleoperation system. The user interface presented here uses the live image of the CCD camera to perform either open or closed loop control of the robot's position. All parameters of the microscope and XY-stage can be controlled with dialog windows. The software infrastructure allows also the development of task planning algorithms by providing an intermediate layer to control the robot

关键词： Robots microsystems assembly teleoperation user interfaces

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Haptic output in multimodal user interfaces 97

Haptic output in multimodal user interfaces

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Proceedings of the 2nd international conference on Intelligent user interfaces

作者： Stefan Münch Rüdiger Dillmann University of Karlsruhe Department of Computer Science Institute for Real-Time Computer Systems and Robotics Kaiserstraβe 12 D-76128 Karlsruhe Germany

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Positioning Fault Detection of a Piezoelectric-Driven Microrobot

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IFAC Proceedings Volumes 1997年第18期30卷 651-656页

作者： F. Dumontier K. Santa S. Fatikow University of Karlsruhe Institute for Real-Time Computer Systems and Robotics D-76128 Karlsruhe Germany Phone: +49-721-608-4252 Fax: +49-721-606-740

Micromanipulation has become an issue of primary importance in industry and biomedicine, the manual capabilities being restricted to certain tolerances. For example manipulation of biological cells or an assembly of a whole microsystem composed of different microcomponcnts have to be carried out by piezo electrically-driven miciorobots. For this reason, an automated microrobot-based micromanipulation station is developed by an interdisciplinary group at the University of Karlsruhe. The process of assembly takes place in the field of view of a light optical microscope. The principal sensors of the S3rstem are CCD cameras. One of them, coupled with the microscope, is the local sensor that allows the automation of the manipulation process under the microscope. A second one, the global sensor, supervises the entire system. In this work we present the first step of a method for the detection of faults occurring during the manipulation process. This first stage consists of detecting and processing a position deviation of the microrobot.

关键词： microrobotic sensor system monitoring positioning analysis

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