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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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Concurrent simulation and control of robot tasks

Concurrent simulation and control of robot tasks

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Annual Hawaii International Conference on System Sciences (HICSS)

作者： Mehlhaus Institute for Real-Time Computer Systems and Robotics University of Karlsruhe Karlsruhe Germany

In the area of telerobotics, where remote systems are to be controlled, it is helpful to plan subsequent operations based on as much relevant data as possible. The simulation of the remote system, executed in parallel, can provide additional information, otherwise difficult or impossible to retrieve from sensor feedback. In this paper, the integrated DiSCUS environment (Distributed Simulation and Control in a Unix System) is presented, which is used for the simulation and the control of a small assembly cell. All (physical and logical) components are represented as stand-alone programs, as tasks. These tasks are distributed over a workstation network, so that "true" parallelism can be achieved.< >

关键词： Distributed computing Distributed control Telerobotics

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Decentralized control of distributed intelligent robots and subsystems

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Annual Review in Automatic Programming 1994年第C期19卷 281-286页

作者： Laengle, Th Lueth, T.C University of Karlsruhe Faculty for Informatics Institute for Real-Time Computer Systems and Robotics 76128 Karlsruhe Prof. Dr.-Ing. U Rembold Prof. Dr.- Ing. R. Dillmann Germany

In a distributed robot system, asynchronous and synchronous communication between the system components is necessary to guarantee problem soliving capability in realtime. On that account, the distributed control architecure of the Karlsruhe Autonomous Mobile Robot KAMRO which is being developed at ipr has been extended by these communication kinds. The robot system consists of several subcomponents, like manipulators, two hand-eyecameras, one overhead camera and a mobile platform. To get better problem solving capability than the former centralized control architecture, these components are able to work together in teams (asynchronous communication) or special agents (synchronous communication). © 1995.

关键词： control theory Distributed control real-time computer systems robot control architecture robots

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Neural-fuzzy force control using a TAI-lorable parallel computer concept

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IFAC Proceedings Volumes 1994年第14期27卷 151-156页

作者： S. Fatikow B. Magnussen T. Doersam University of Karlsruhe Faculty for Informatics Institute for Real-Time Computer Systems and Robotics Kaiserstr. 12 76128 Karlsruhe Germany

In this paper a new control system for the intelligent force control of multifingered robot grips is presented. The multi-level system architecture combines both fuzzy-based and a neural-based control algorithms. After defining the fine manipulation problem fuzzy and neural controller are developed. The demands of flexibility and real-time control of the implementation of the control system are suited by a tailorable parallel computer concept. The basic ideas of the concept are to set up each processing element and the communication individually for its application

关键词： Force control fuzzy control neural nets real time computer systems parallel processing

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Integrated acquisition, execution, evaluation, and tuning of elementary skills for intelligent robots

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Annual Review in Automatic Programming 1994年第C期19卷 117-122页

作者： Kaiser, M Giordana, A Nuttin, M Institute for Real-Time Computer Systems and Robotics University of Karlsruhe D-76128 Karlsruhe Germany Dipartimento di Informatica Universita di Torino I-10149 Torino Italy Division PMA Katholieke Universiteit Leuven B-3001 Leuven Belgium

This paper presents an approach to integrated acquistion, evaluation, tuning, and execution of elementary skills in order to ease programming and employment of robots. To allow the use of machine learning techniques as well as real-time execution of the skills, a twofold representation is developed. The individual learning tasks involved in the generation and maintenance of skills are identified and related to proper learning techniques. A programming environment and a low level architecture taking care of the different requirements during all phases of skill acquisition and execution are described. © 1995.

关键词： Fuzzy Control Man-Machine systems Neural Nets Programming Support Robots

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Intelligent robot hand control system using a tailorable parallel computer concept

Intelligent robot hand control system using a tailorable par...

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IEEE International Workshop on Intelligent Robots and systems (IROS)

作者： S. Fatikow B. Magnussen Th. Dorsam Institute for Real Time Computer Systems and Robotics Faculty for Informatics University of Karlsruhe Karlsruhe Germany

Presents a control system for the intelligent force control of multifingered robot grips. The multilevel system architecture combines both a fuzzy-based adaptation level and a neural-based one with a conventional PID-controller that allows autonomous performance of fine manipulations of an object. Two kinds of fuzzy controllers are presented. They use a decision making logic which expresses the a priori knowledge about the grasp force behaviour inside the friction cones and the necessary reactions regarding the criterion for grip stability. A neural controller, based on a Hooke-Jeeves optimisation approach, has been developed as well. The neural control algorithm is implemented by a three-layered backpropagation neural network. The neural and fuzzy controllers can be used separately or in parallel. In the last case the neural controller can be on-line trained using the input-output information from the fuzzy one. A computer based simulation system for the peg-in-hole insertion task is developed to analyse and to compare the capabilities of both control algorithms. The demands of flexibility and real-time control of the implementation of the control system are suited by a tailorable parallel computer concept. The two basic ideas of the concept are to set up each processing element individually for its application and connect these elements with different communicational methods according to the applicational demands. As this happens before runtime the concept is called static flexibility and is implemented using a new mechanical computer structure.< >

关键词： Intelligent robots Robot control Control systems Fuzzy control Communication system control Force control Intelligent systems Intelligent control Multilevel systems Decision making

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A multi-agent approach to distributed control for task-level programs for cooperating manipulators

A multi-agent approach to distributed control for task-level...

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IEEE International Workshop on Intelligent Robots and systems (IROS)

作者： P. Bohner Institute for Real-Time Computer Systems and Robotics Faculty for InfonnaticS University of Karlsruhe Karlsruhe Germany

The use of two or more robots in a common workspace is essential to expand the field of potential applications. This paper presents a distributed approach for executing task-level programs for cooperating manipulators or one arm systems with many degrees of freedom. At task level, only the movement of the objects to be manipulated is specified. The corresponding manipulator motions are then calculated by assigning the local intelligence to each joint. The local intelligence enables the joint agents to calculate in parallel their appropriate movements to make the end effector reach the desired position. During execution, each joint evaluates the sensor data to compensate for execution errors, to react on unexpected obstacles and to provide the manipulator coordination. Therefore, a distributed fuzzy rule base has been developed. As this local evaluation may lead to non-optimal overall behavior of the manipulator, the joint agents communications provide global suboptimality.< >

关键词： Distributed control Manipulators Mobile robots Robot kinematics Intelligent sensors Intelligent agent Control systems Error correction real time systems Distributed computing

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Intelligent Manufacturing Components for Future CIM systems

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IFAC Proceedings Volumes 1994年第4期27卷 1-10页

作者： U. Rembold T. Lueth T. Ogasawara University of Karlsruhe Institute for Real-Time Computer Systems and Robotics IPR D-76128 Karlsruhe Germany Electrotechnical Laboratory M.I.T.I. 1-1-4 Umezono Tsukuba Ibaraki 305 Japan

This paper introduces into 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, this paper discusses especially the need for virtual factory concepts and intelligent manufacturing components for future CIM systems. The intelligence of the subsystems is required in large-scale manufacturing systems to master the problems that will result from the system’s complexity.

关键词： Industrial Control Manufacturing processes Decentralized Control Hierarchical Intelligent Control Virtual Factory Intelligent Manufacturing

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The Karlsruhe dextrous hand: grasp planning, programming and real-time control

The Karlsruhe dextrous hand: grasp planning, programming and...

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IEEE International Workshop on Intelligent Robots and systems (IROS)

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

In this paper the framework of an intelligent control system of a multi-finger robot hand is described, that is especially tailored for sensor-based object handling and assembly. The research has concerned with the Karlsruhe dextrous hand, a modular three-finger hand with 9 degrees of freedom, independent finger modules and integrated sensors. The total system structure consists of three embedded subsystems, with a planning and supervisory system on the top, which has a blackboard-like architecture to exchange information with a distributed real-time control system that provides force/position control strategies for dextrous grasping and manipulating of arbitrary objects. A programming and simulation system supports the object/task-based description of all robot and gripper actions required to perform a specific operation.< >

关键词： Robot programming Robotic assembly Force control Intelligent control Robot sensing systems Intelligent robots Assembly systems Fingers Intelligent sensors Strategic planning

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Fuzzy-based grasp-force-adaptation for multifingered robot hands

Fuzzy-based grasp-force-adaptation for multifingered robot h...

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IEEE International Conference on Fuzzy systems (FUZZ-IEEE)

作者： T. Dorsam S. Fatikow I. Streit Institute for Real-Time Computer Systems awl Robotics Faculty for Informatics University of Karlsruhe Karlsruhe Germany

A fuzzy logic approach for the online grasp-force-adaptation, which can be used for the control of fine manipulating with a multifingered robot hand, will be presented in this paper. The kernel of this approach consists of decision making logic which expresses the a-priory knowledge about the force behaviour inside the friction cones and the necessary reactions, regarding the criterion for grip stability. For the software realisation of the fuzzy control approach a Fuzzy-C Development System supporting the entire development process was used. Two corresponding fuzzy controllers have been designed: A finger controller and a grasp controller. During fine manipulations of an object the fuzzy controller interacts with an underlying conventional controller that receives, after defuzzyfication, the adapted force values which were applied. A computer based simulation system was developed to analyse the capabilities of the designed fuzzy controllers.< >

关键词： Robots Fuzzy control Force control Fuzzy logic Kernel Decision making Friction Stability criteria Fingers Computational modeling

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