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

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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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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Compensation of friction in mechanical drives for a three fingered robot gripper

Compensation of friction in mechanical drives for a three fi...

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Proceedings of IEEE/RSJ International Conference on Intelligent Robots and systems. IROS '96

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

Performing fine manipulations with multifingered robot hands makes high demands on the control algorithms and the speed of the control computer. Mainly nonlinear friction problems and plant uncertainties require intensive fine-tuning of a controller. This paper gives insight into the frictional behaviour of geared finger links. The behaviour has been approximated by a friction model. Considering the estimated system parameters two kinds of controllers are developed: a simple PD controller with switchable I-part and a PD-controller with a fuzzy friction compensation working in parallel. The results of both controllers are presented and compared in this paper.

关键词： Friction Control systems Robots High performance computing Uncertainty Fingers Parameter estimation PD control Fuzzy control Fuzzy systems

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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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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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An automated microrobot-based desktop station for micro assembly and handling of micro-objects

An automated microrobot-based desktop station for micro asse...

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International Conference on Emerging Technologies and Factory Automation (ETFA)

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

One of the main problems of present-day microsystem technology (MST) is the assembly of a whole microsystem from different micro-components. This paper presents an automated micromanipulation desktop station the main feature of which are piezoelectrically driven microrobots placed on a highly precise x-y table of a microscope. The microrobots can perform high-precise manipulations (with an accuracy of up to 10 nm) and the transport of very small objects (at a speed of several mm/sec). To control the desktop station automatically, a sensor system is provided for fine and for gross positioning of the robots, respectively. Apart from assembly tasks this automated station can be used, for examples, for handling biological cells or testing silicon chips.

关键词： Microscopy Automatic control Control systems Sensor systems Robot sensing systems robotics and automation Robotic assembly Biological cells Automatic testing Silicon

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A simulation-based grasp planning system for multifinger robot hands

A simulation-based grasp planning system for multifinger rob...

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IEEE International Symposium on Intelligent Control (ISIC)

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

The development of an advanced planning environment is described, which is especially tailored for the programming and simulating of complex assembly operations with multifinger robot hands. A new geometric-mechanic approach to the problem of planning grasp parameters for multifinger hands is presented, which considers the constraints of pick-and-place operations in manipulation and insertion tasks. The planning method is subdivided into two successive steps for (1) grasp point planning assertion object reachability and task feasibility, and (2) grasp force planning asserting object stability and grip security. The planning process is connected via a task concept and assembly specific language with the command executer of the planning system which controls both the motion emulation and force simulation.< >

关键词： Robotic assembly Process planning Robot programming Motion planning Stability Security Assembly systems Control system synthesis Force control Motion control

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A Hybrid Object Representation for Automatic Assembly Planning

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IFAC Proceedings Volumes 1993年第2期26卷 243-246页

作者： G. Werling H. Wild Faculty of Computer Science Institute for Real-Time Computer Systems and Robotics University of Karlsruhe Postfach 6980 7500 Karlsruhe 1 Germany

A new product model that is particularly useful for model-based assembly planning is presented in this paper. The majority of the models used in this domain are simple approximations of the real workpiece and they are often dedicated to special algorithms. The model described here provides a more accurate and more flexible representation of workpieces. An increase in accuracy of the shape description was achieved by enhancing a polyhedral model with an analytical representation. The application of the model is demonstrated within the framework of assembly sequence planning.

关键词： Object representation assembling analytical models polyhedron boundary representation constructive solid geometry

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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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Development of an advanced robot for autonomous assembly

Development of an advanced robot for autonomous assembly

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IEEE International Conference on robotics and Automation (ICRA)

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

As an example of an autonomous assembly robot, the mobile two-arm robot system KAMRO, is described. The system is capable of navigating within an assembly cell, of docking at a work table, and of executing an assembly according to a given plan. A series of successful experiments has demonstrated the completely autonomous operation of the system.< >

关键词： Robotic assembly robotics and automation Robot sensing systems Assembly systems real time systems Robot control Control systems Mobile robots Intellectual property Navigation

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