检索结果-内蒙古大学图书馆

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

来源：评论

学校读者我要写书评

暂无评论

Representing Assembly Directions by Spherical Polygones

引用

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

来源：评论

学校读者我要写书评

暂无评论

Automated planning of robot workcell layouts

Automated planning of robot workcell layouts

引用

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

来源：评论

学校读者我要写书评

暂无评论

A new software environment for design of automated workcells

A new software environment for design of automated workcells

引用

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

来源：评论

学校读者我要写书评

暂无评论

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

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

引用

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

来源：评论

学校读者我要写书评

暂无评论

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

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

引用

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

来源：评论

学校读者我要写书评

暂无评论

Automated computer-Aided Layout Planning for Robot Workcells

引用

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

来源：评论

学校读者我要写书评

暂无评论

Making Configuration Expert System Development Less Costly

引用

IFAC Proceedings Volumes 1992年第23期25卷 145-150页

作者： Bernd G. Welz Institute for Real-Time Computer Systems and Robotics Prof Dr.-Ing. U. Rembold and Prof. Dr.-Ing. R. Dillmann University of Karlsruhe Postfach 69 80 D-7500 Karlsruhe 1 F.R.Germany

In this paper the software environment KONTEST is introduced which allOWS a non-programmer to build and maintain a knowledge-based configuration tool for a restricted class of configuration tasks. The use of an environment like KONTEST can be especially interesting for small and medium sized companies, that could not afford a customised configuration tool developed from scratch.

关键词： Artificial Intelligence expert system tools and techniques knoweldge based configuration knowledge acquisition

来源：评论

学校读者我要写书评

暂无评论

PLANNING OF SENSING TASKS IN AN ASSEMBLY ENVIRONMENT

引用

JOURNAL OF INTELLIGENT & ROBOTIC systems 1991年第3期4卷 221-254页

作者： WERLING, G 1. Institute for Real-Time Computer Control Systems and Robotics University of Karlsruhe D-7500 Karlsruhe Germany

The purpose of this paper is to give an overview of past and recent work on planning sensing strategies for vision sensors. To achieve an economic use of robots in manufacturing, their programs must provide a high degree of fault-tolerance, security, and robustness to prevent unforeseen errors. Model errors (also termed uncertainties) are one of the most frequent reasons for such undesirable events. Robot systems can be made more reliable and fault-tolerant by providing them with capabilities of error detection and recovery, or error prevention. The latter may be achieved by reducing model errors using tactile and non-tactile sensors. The quality of a robot program synthesized by a task-level programming system depends on the accuracy of the model, since all information that is not explicitly given by the programmer must be derived from it. This means that the following questions have to be answered by the automatic task planner in order to plan non-tactile sensing strategies: (1) When do I have to use sensors to reduce uncertainty about the real world? (2) What do I have to use them for? (3) How do I have to use them to achieve the necessary information within an acceptable period of time? There are very few systems which deal broadly with the problem of robust robot programs, whereas there are numerous works on detail aspects of the field. The main approaches will be introduced and discussed in more detail. Finally, a new concept for generating sensor-integrated robust robot programs will be proposed.

关键词： VERIFICATION TASK-LEVEL PROGRAMMING ROBOT VISION UNCERTAINTY ASSEMBLY PLANNING FAULT TOLERANCE CLASSIFICATION PREDICTION CAMERA LOCATION

来源：评论

学校读者我要写书评

暂无评论

AN ACTION-BASED PROCESS MODEL FOR DEXTEROUS MULTIFINGER HANDS

引用

JOURNAL OF INTELLIGENT & ROBOTIC systems 1991年第3期4卷 201-219页

作者： WOHLKE, G BRAUN, T 1. Institute for Real-Time Computer Control Systems and Robotics Faculty for Informatics University of Karlsruhe 7500 Karlsruhe Germany

In this article, the development of an action-based process model is described which was especially tailored to the needs of modelling and simulating multifinger hands. The research has been concerned with a description technique using constraints for modelling the working environment and with the design of an appropriate process model for simulating complex movements of manipulation objects with multifinger hands. The paper presents the results of an object-oriented approach to the proposed model and consists of two parts: a constraint net that describes the connections and relations between cell components (robots, grippers, objects) in the working environment and a propagation algorithm that computes the new locations regarding the modifications and logical dependencies.

关键词： SYSTEM SIMULATION PROCESS MODEL CONSTRAINT NET PROPAGATION ALGORITHM OBJECT-ORIENTED PROGRAMMING

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：