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IEEE International Conference on robotics and Automation (ICRA)

作者： F. Wallner R. Graf R. Dillmann Institute for Real-Time Computer Systems & Robotics University of Karlsruhe Karlsruhe Germany

A good map of its environment is essential for efficient task execution of a mobile robot. real time map update, especially in dynamic scenes is a difficult problem due to noisy sensor data and limited observation time. The paper describes a mapping procedure which identifies new obstacles in a scene and constructs a 3D surface model of it. This description is included in the geometrical map which robot navigation relies on. The mapping procedure is based on sonar range information and scenes reconstructed from stereo vision. The combination of sonar and stereo vision is advantageous, due to a complementary error characteristic concerning range and angular resolution. For sonar data integration the idea of local probability grids is proposed. Local grids which only cover areas where new obstacles are expected, reduce the complexity of grid based sonar data integration and can be applied to a dynamic environment. The partial models of an object that has been observed from different viewpoints are fused to a homogeneous description in a later step. A complex example shows the mapping procedure work robustly in dynamic indoor environments.

关键词： Sonar navigation Layout Stereo vision Mobile robots Working environment noise Surface reconstruction Robot sensing systems Sonar applications Robustness Indoor environments

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A review of parallel processing approaches to motion planning

A review of parallel processing approaches to motion plannin...

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IEEE International Conference on robotics and Automation (ICRA)

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

One of the many features needed to support the activities of autonomous systems is the ability of motion planning. It enables robots to move in their environment securely and to accomplish given tasks. Unfortunately, the control loop comprising sensing, planning, and acting has not yet been closed for robots in dynamic environments. One reason involves the long execution times of the motion planning component. A solution for this problem is offered by the use of highly computational parallelism. Thus, an important task is the parallelization of existing motion planning algorithms for robots so that they are suitable for highly computational parallelism. In several cases, completely new algorithms have to be designed, so that a parallelization is feasible. We review approaches to motion planning using parallel computation.

关键词： Parallel processing Process planning Concurrent computing Surface-mount technology Mobile robots Mesh generation Orbital robotics Search methods Broadcasting

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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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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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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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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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An adaptive fuzzy control for a three fingered robot gripper 3

An adaptive fuzzy control for a three fingered robot gripper

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3rd Australian and New Zealand Conference on Intelligent Information systems, ANZIIS 1995

作者： Doersam, Thomas Hammerschmidt, Oliver University of Karlsruhe Department for Computer Science Institute for Real-Time Computer Systems and Robotics Kaiserstr. 12 KarlsruheD-76128 Germany University of Karlsruhe Department for Computer Science Institute for Microcomputers and Automation Kaiserstr. 12 KarlsruheD-76128 Germany

ISBN: (纸本)0864224303

Performing fine manipulations with multifingered robot hands makes high demands on the control algorithms and the speed of the control computer. Mainly non-linear friction problems and plant uncertainties require intensive fine-tuning of the controller. An adaptive fuzzy control which allows automatic controller tuning during plant operation is proposed and was added to an existing process control system. Finally, experimental results of a three fingered robot gripper using this adaptive fuzzy control are presented. © 1995 IEEE. All rights reserved.

关键词： real time systems

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A fuzzy control approach for executing subgoal guided motion of a mobile robot in a partially-known environment

A fuzzy control approach for executing subgoal guided motion...

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IEEE International Conference on robotics and Automation (ICRA)

作者： J. Zhang P. Bohner Institute for Real-Time Computer Systems and Robotics Department of Computer Science University of Karlsruhe Germany

A fuzzy control approach is proposed for controlling a mobile robot by effectively using the static knowledge of a partially-known environment and the dynamic sensor data. To describe the global structure of the static environment, a tangent-graph is first constructed and a sequence of subgoals is generated for guiding the global path direction. During the execution of these subgoals, a motion executor using the concept of fuzzy control evaluates the sensor data and the robot current status, and adjusts the moving speed and direction of the robot.< >

关键词： Fuzzy control Mobile robots Robot sensing systems Path planning Control systems Humans Motion control Robot control Roads Robot motion

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Predicate/transition nets in FMS control

Predicate/transition nets in FMS control

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International Conference on Industrial Electronics, Control and Instrumentation

作者： U. Negretto U. Rembold R. Dillmann Institute for Real-time Computer Systems and Robotics USA University of Karlsruhe Karlsruhe Germany

The author presents a design methodology for high-level control of flexible manufacturing systems (FMSs). The design procedures are addressed for the control model specification, the process execution software and the monitoring functions. A functional classification hierarchy of the system resources is introduced which is used for the representation of object class types in generic predicate/transition subnets (Pr/T). The subnets can be parameterized to the instances of the object class types. They can be related through internal and external topology relations. The relations describe the interaction and the synchronization between the resources. The complete Pr/T-net is called the functional model of the FMS. It describes the concurrency and synchronization of the FMS. It is used for the discrete event driven control of the process. The indeterminacy problem in the Pr/T-net was solved with the help of a task scheduler and a task-to-primitive-operation structure. The Pr/T-net was implemented in Prolog.< >

关键词： Flexible manufacturing systems Job shop scheduling Production systems Control design Design methodology Topology Process control Manufacturing industries Automation Automatic control

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