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International Conference on Advanced robotics (ICAR)

作者： Ch. Pelich H. Mosemann F.M. Wahl Institute of Robotics and Computer Control Technical University of Braunschweig Brunswick Germany

Powerful robot controlling systems especially designed for demanding robotic applications like assembly planning strongly depend on its hard- and software resources. In this paper we present a powerful parallel robot independent programming and controlling environment with simulation capabilities (PRIPES). Based on an open multiprocessor architecture PRIPES provides an easy programming interface for robotic applications. Due to its full support of dynamic processing and its real-time capable communication subsystem, it provides the basic requirements for high sophisticated processes, e.g. for monitoring purposes in compliant motion applications. Consequently, PRIPES supports the implementation of parallel algorithms, which can be used to significantly reduce calculation times consumed by numerical complex algorithms. Subsequently, we give first results in implementing a parallelized algorithm for calculating stable orientations of assemblies in order to prove the capabilities of PRIPES.

关键词： Robot programming Robotic assembly Application software Robot control control systems Assembly systems Power system planning Parallel robots Parallel programming Communication system control

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HighLAP: A High Level System for Generating, Representing, and Evaluating Assembly Sequences

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International Journal on Artificial Intelligence Tools 1997年第2期6卷 149-163页

作者： F. Röhrdanz H. Mosemann F. M. Wahl Institute of Robotics and Computer Control Technical University of Braunschweig Hamburger Str. 267 38114 Braunschweig Germany

In this paper we present our high level assembly planning system High LAP· High LAP generates and evaluates all assembly sequences of a mechanical assembly with minimal user interaction. For the evaluation of all feasible assembly sequences several criteria are taken into account. High LAP considers for example the separability and the manipulability of the generated (sub)assemblies. Furthermore, the necessity of reorientation for a mating operation and parallelism during plan execution is considered. Another important criterion is the stability of the generated (sub)assemblies. Most of the assembly planners developed up to date use heuristics or user defined criteria to determine assembly stability for plan evaluation. In order to bring automatic assembly planning closer to reality High LAP performs a powerful geometrical and physical reasoning. The presented system is the first assembly planning system taking into account the range of all stable orientations of an assembly considering friction for plan evaluation.

关键词： Assembly Plan Generation Assembly Plan Evaluation Stability Analysis Assembly Strategies Task Planning

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Synthesized passive feedback control of sensor-rich structures

Synthesized passive feedback control of sensor-rich structur...

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American control Conference (ACC)

作者： P. Akella J.T. Wen Control Laboratory for Mechanical Structures (CLaMS) Center for Advanced Technology in Automation Robotics & Manufacturing Department of Electrical Computer and Systems Engineering Rensselaer Polytechnic Institute Troy NY USA

The passivity property of dissipative mechanical structures has long been exploited in designing passive controllers that provide robust stability even in the presence of unmodeled dynamics of the system. For an input/output map of a flexible structure to be passive, collocation of the actuators and sensors is required and also the sensors should measure the velocity of the system. The so-called smart structures frequently have more sensors than actuators. Therefore, the passive controller can at best utilize only a subset of the sensors. In this paper we consider the design of a squaring down matrix which would render a system passive subject to some additional performance considerations. The problem of obtaining the synthesized passive output is cast as a set of linear matrix inequalities (LMIs) which can be efficiently solved by the LMI Toolbox in Matlab. We apply this procedure with the assumption that the sensors provide both displacement and velocity information which is generally not true. We show that the passive controllers can be implemented without the use of velocity information. By using synthesized passive outputs in addition to naturally occurring passive outputs, we obtain better system performance. We present experimental results involving a single flexible beam with torque input and hub angular position and strain gage outputs.

关键词： Feedback control Intelligent sensors control system synthesis Mechanical sensors Sensor systems Linear matrix inequalities Mechanical factors control systems Robust stability Flexible structures

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The Neural Network Model of a Robot Joint

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IFAC Proceedings Volumes 1997年第21期30卷 381-385页

作者： Jozef Suchý Jarmila Škrinárová Institute of Control Theory and Robotics Slovak Academy of Science Severná 5 974 00 Banská Bystrica Slovakia Department of Computer Science Faculty of Natural Sciences Tajovského 40 974 01 Banská Bystrica Slovakia

In the present paper the artificial neural network model of a robot joint is presented. The data used come from the real measurements on the first joint of Manutec R15 robot. The measured data correspond to the motor current and to the joint position, so that they include nonlinear phenomena like friction, backlash or stiffness present in the joint. For modelling of the robot joint based on the measured data the modification of CMAC neural network, the so called generalized CMAC (GCMAC), is used.

关键词： Modelling robot joint neural-network models

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Analysis of deadlocks and circular waits using a matrix model for discrete event systems

Analysis of deadlocks and circular waits using a matrix mode...

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IEEE Conference on Decision and control

作者： F.L. Lewis S. Bogdan A. Gurel O. Pastravanu Automation and Robotics Research Institute University of Texas Arlington Worth TX USA Faculty of Electrical Engineering and Computer University of Zagreb Zagreb Croatia Department Automatic Control and Ind. Inf Polytechnic Institute Iasi Romania

A new matrix rule-based model of discrete-part discrete event systems is given that, together with the well-known Petri net marking transition equation, yields a complete matrix-based dynamical description of these systems. In this application to deadlock analysis, the exact relations between circular blockings and deadlocks are given for a large class of reentrant flow lines. Explicit matrix equations are given for online dynamic deadlock analysis in terms of circular blockings, and certain 'critical siphons' and 'critical subsystems'. This allows efficient dispatching with deadlock avoidance using a generalized kanban scheme. For the class of flow lines considered, the existence of matrix formulae shows that deadlock analysis is not NP-complete, but of polynomial complexity.

关键词： System recovery Discrete event systems Equations Dispatching robotics and automation Petri nets Manufacturing Bills of materials Assembly Lifting equipment

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Closed form solutions applied to redundant serial link manipulators

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MATHEMATICS AND computerS IN SIMULATION 1996年第5-6期41卷 509-516页

作者： Kauschke, M Institute for Robotics and Computer Control Technical University of Braunschweig D-38114 Braunschweig Germany

This paper presets an efficient local optimization scheme for redundant serial link manipulators with low degree of redundancy and a complex optimization task. This is done by reducing the degree of the joints space by the number of link variables solved by a closed form solution of the inverse kinematics for nonredundant substructures. The optimization problem is solved locally by an algorithm which does not require differentiable task functions.

关键词： Manipulators

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A fuzzy ICP algorithm for 3D free-form object recognition

A fuzzy ICP algorithm for 3D free-form object recognition

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13th International Conference on Pattern Recognition, ICPR 1996

作者： Krebs, Björn Sieverding, Peter Korn, Bernd Institute for Robotics and Computer Control Technical University Braunschweig Hamburger Str. 267 D-38 114 Braunschweig Germany

ISBN: (纸本)081867282X

We propose a new object matching algorithm which can separate overlapping objects and which is robust against erroneous data. The algorithm is based on the well-known iterative closest point (ICP) algorithm. However all published contributions to the ICP algorithm can not provide a proper segmentation of the input data. A fuzzy ICP algorithm can handle these problems by a fuzzy membership valuation at each iteration level. Furthermore, we introduce an evidence accumulation algorithm which allows a determination of the best match. In combination with search routines for the most common CAD models we provide powerful and efficient tools for CAD based object recognition systems. © 1996 IEEE.

关键词： computer aided design

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/sup High/LAP: a high level system for generating, representing, and evaluating assembly sequences

/sup High/LAP: a high level system for generating, represent...

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IEEE International Joint Symposia on Intelligence and Systems

作者： F. Rohrdanz H. Mosemann F.M. Wahl Institute of Robotics and Computer Control Technical University of Braunschweig Brunswick Germany

In this paper we present our high level assembly planning system /sup High/LAP. /sup High/LAP generates and evaluates all assembly sequences of a mechanical assembly with minimal user interaction. For the evaluation of all feasible assembly sequences several criteria are taken into account. /sup High/LAP considers for example the separability and the manipulability of the generated (sub)assemblies, Furthermore, the necessity of reorientation for a mating operation and parallelism during plan execution is considered. Another important criterion is the stability of the generated (sub)assemblies. Most of the assembly planners developed up to date use heuristics or user defined criteria to determine assembly stability for plan evaluation. In order to bring automatic assembly planning closer to reality /sup High/LAP performs a powerful geometrical and physical reasoning. The system presented is the first assembly planning system taking into account the range of all stable orientations of an assembly considering friction for plan evaluation.

关键词： Assembly systems Robotic assembly Stability criteria Power system planning Strategic planning Robot control Parallel processing Mechanical products Databases Motion analysis

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A fuzzy ICP algorithm for 3D free-form object recognition

A fuzzy ICP algorithm for 3D free-form object recognition

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International Conference on Pattern Recognition

作者： B. Krebs P. Sieverding B. Korn Institute for Robotics and Computer Control Technical University of Braunschweig Brunswick Germany

关键词： Iterative closest point algorithm Object recognition Iterative algorithms Robustness Fuzzy sets Clustering algorithms Design automation Shape Robot control Cost accounting

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Estimation of collision probabilities in dynamic environments for path planning with minimum collision probability

Estimation of collision probabilities in dynamic environment...

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

作者： E. Kruse R. Gutsche F.M. Wahl Institute for Robotics and Computer Control Technical University of Braunschweig Brunswick Germany

To plan collision-free trajectories for mobile robots among moving obstacles most approaches presume the obstacles' trajectories to be known. This is contradictory to practice where motions generally are known-at best-as average behaviours. Thus, we proposed to use statistical information for path planning. This paper focuses on the derivation of formulae to estimate collision probabilities. By generalizing elementary collision patterns we develop a method to calculate a collision probability field. For any given goal position, it estimates the collision probabilities for paths starting at arbitrary points in the workspace. This provides a powerful tool for path planning in dynamic environments. Using an algorithm similar to path planning based on potential fields, we can calculate paths with (approximately) minimum collision probability.

关键词： Path planning Probability Mobile robots Trajectory Orbital robotics Robot control Solids Shape Virtual reality Guidelines

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