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IEEE International Conference on robotics and Automation (ICRA)

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

As recent research is directed towards flexible and autonomous robot behaviour, a priori knowledge is increasingly replaced by data obtained automatically by external sensors of the robot. Much effort already has been made regarding the integration of different types of sensor data into reliable world representations. Yet, the aspect of guiding robot perception in a systematic manner often has been neglected. Closing this gap, we present a framework addressing the efficient exploration of an unknown three-dimensional environment. A natural approach to this problem is a repeated "planning-sensing-updating"-cycle. In this paper special attention is paid on planning: Based on the current, incomplete world model and on constraints respecting the robot's motions, rating functions in configuration space are defined. When planning sensing actions, configurations with high ratings are chosen. Thus, a fast and efficient exploration of the workspace is guaranteed. Our approach works with miscellaneous robot architectures, including mobile systems as well as manipulators with many degrees of freedom and redundancies. The inverse kinematic solution of the robot has not to be known. The sensors to be used have to provide range measurements, like laser scanners, stereo or sonar systems.

关键词： Robot sensing systems robotics and automation Motion planning Robot motion Mobile robots Orbital robotics Manipulators Redundancy Kinematics Sensor systems

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Collision-free motion planning of a robot using safety arc

Collision-free motion planning of a robot using safety arc

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International Conference on Industrial Electronics, control and Instrumentation

作者： S.W. Lee Y.S. Nam K.D. Lee B.H. Lee M.S. Kim S.C. Kang Department of Control and Instrumentation Engineering Seoul National University Seoul South Korea Department of Computer Science Engineering Yeungnam University South Korea Robotics Laboratory Korea Institute of Science and Technology Seoul South Korea

A new concept, the safety arc, is described for collision-free motion planning of a robot. In the configuration space, the safety arc is introduced considering both the motion constraints and the collision constraint using the distance function. The safety arc is an arc-shaped set composed of the candidate configuration points from the given constraints. Based on this concept, a method for transforming the problem of collision-free motion planning into a sub-optimal collision avoidance problem (SOCAP) with linear constraints is developed. The authors adopt the minimum distance between the initial and final configuration as the performance index, hence robot motion is planned in order to minimize the moving distance in the configuration space from the initial to the final configuration subject to the given constraints. The proposed method is verified through computer simulation.

关键词： Motion planning Safety Orbital robotics Collision avoidance Path planning Robot motion Space technology Motion control Instruments computer science

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Plausibilistic preprocessing of sparse range images 8th

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8th International Conference on Image Analysis and Processing, ICIAP 1995

作者： Krebs, Björn Korn, Bernd Wahl, Friedrich M. Institute for Robotics and Computer Control Technical University Braunschweig Hamburger Str. 267 BraunschweigD-38114 Germany

ISBN: (纸本)3540602984

Range image interpretation often suffers from contaminating noise and sparseness of the input data. Non-Gaussian errors occur if the physical conditions in the scene violate sensor restrictions. To deal with such drawbacks we present a new approach for range image preprocessing. To provide dense range information initial sparse data is augmented via appropriate interpolation. Furthermore, we propose a measure of plausibility which depends on the density of the initial data to judge the result of the interpolation. © Springer-Verlag Berlin Heidelberg 1995.

关键词： Interpolation

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Hard real-time scheduling of distance-constrained sensor tasks within a monitoring system for mobile robot guidance

Hard real-time scheduling of distance-constrained sensor tas...

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IEEE International Conference on Systems, Man and Cybernetics

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

This paper describes a new scheduling strategy, which can be used to schedule distance-constrained non-preemptive hard real-time tasks. Besides the ability to guarantee the satisfaction of all hard time requirements, the scheduler simultaneously enables a dynamical, e.g. priority driven, distribution of free resources. The authors motivate the proposed new scheduling strategy on the basis of a monitoring and navigation system for mobile vehicle guidance in industrial environments. This system, called MONAMOVE, is currently under development in the authors' lab. However, this application serves only as an example; similar scheduling requirements can be found in many real-time applications, where a variable number of tasks with distance-constraints share common resources and where a distribution of processing resources, not used to satisfy the hard timing requirements, is desired.

关键词： Real time systems Sensor systems Monitoring Job shop scheduling Navigation Data processing Processor scheduling Vehicles Production facilities Floors

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Preisach modeling of piezoceramic and shape memory alloy hysteresis

Preisach modeling of piezoceramic and shape memory alloy hys...

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IEEE Conference on control Technology and Applications (CCTA)

作者： D. Hughes 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

Smart materials such as piezoceramics and shape memory alloys (SMAs) exhibit significant hysteresis and in order to estimate the effect on open and closed loop control a suitable model is needed. One promising candidate is the Preisach independent domain hysteresis model that is characterized by the congruent minor loop and wiping out properties. Comparable minor loop and decaying oscillation test data for a multi-sheet piezoceramic actuator (made of lead zirconate titanate) attached to a flexible beam are presented and are seen to be very consistent with the two Preisach model properties. The commanded parameter is the sheet transverse electric field while the measured parameter is an approximately colocated strain induced in the beam. Equivalent data for a Nitinol SMA wire muscle, attached to the same beam, are also presented. The input and output parameters are the SMA current and a beam strain respectfully. The minor loop and wiping out evidence is less strong than that of the piezoceramic case, but encouraging. In all experiments the quasi-steady state responses were generated in order to avoid exciting beam flexible modes which would complicate the analysis.

关键词： Piezoelectric materials Shape memory alloys Hysteresis Strain measurement Shape control Open loop systems Testing Actuators Titanium compounds Electric variables measurement

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Synthesized passive feedback control of sensor-rich smart structures-experimental results

Synthesized passive feedback control of sensor-rich smart st...

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IEEE Conference on control Technology and Applications (CCTA)

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

Passivity based controllers are used in structural control due to their inherent robustness properties. These controllers require sensor/actuator collocation. In this paper, we consider the design of a "squaring down" matrix which renders a system passive by using a linear combination of all collocated and non-collocated sensor/actuator pairs. The design uses experimental transfer functions and does not require the knowledge of the system model. The problem of finding the squaring down matrix is cast as a solution to a set of linear matrix inequalities (LMIs) subject to some additional performance considerations. The design procedure of the squaring down matrix assumes that velocity information is available from the sensors which is not generally the case. We show that the squaring down matrix can be implemented without the use of such velocity information. We provide experimental results gathered from the single link flexible beam setup in the C/sub La/MS laboratory at RPI to show that implementation of passive loops without velocity measurements provides very good results.

关键词： Feedback control Linear matrix inequalities Intelligent sensors control system synthesis Robust control Sensor systems Hydraulic actuators Transfer functions Laboratories Economic indicators

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THE control ARCHITECTURE OF THE PRIAMOS MOBILE SYSTEM

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control ENGINEERING PRACTICE 1994年第2期2卷 341-346页

作者： DILLMANN, R KREUZIGER, J WALLNER, F Department of Computer Science University of Karlsruhe Institute for Real-Time Computer Control Systems and Robotics P.O. Box 6980 76128 Karlsruhe Germany

In this paper the control architecture of the PRIAMOS mobile robot system is presented. It consists of four layers which integrate reactive and reflexive components in such a way that the robot can combine fast reaction to unexpected obstacles with predictive behaviour to known components in the environment. A solution for the problem of how to combine control layers which process information on different levels of abstraction and of increasing complexity is discussed. The reflexive part of the control architecture and the modification concerning the motion controller of the mobile robot which was necessary to apply the idea of reflexive navigation is described in more detail. The architecture presented allows motion tasks to be executed in partially unknown or changing environment in an efficient manner. Especially, the time-critical reflexive level is computationally less expensive than in previous approaches.

关键词： INTELLIGENT MACHINES NAVIGATION HIERARCHICALLY INTELLIGENT control ARCHITECTURE OBSTACLE AVOIDANCE ROBOTS SENSORS

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Neural-based learning in grasp force control of a robot hand

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Annual Review in Automatic Programming 1994年第C期19卷 111-116页

作者： Fatikow, S Sundermann, K University of Karlsruhe Institute for Reed-Time Computer Control and Robotics D-76128 Karlsruhe Kaiserstraße 12 Germany

In this paper, we present a new control system for the intelligent force control of multifingered robot grips which combines both fuzzy-based adaptation level and a neural-based one with a conventional PID-controller. The most attention is given to the neural-based force adaptation level implemented by three-layered back-propagation neural networks. A computer based simulation system for the peg-in-hole insertion task is developed to analyze the capabilities of the neural controllers. Their behaviour is discussed by comparing them to conventional and fuzzy-based force controllers performing the same task. © 1995.

关键词： control systems force control fuzzy control neural nets Robots simulation

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Path planning for mobile vehicles within dynamic worlds using statistical data

Path planning for mobile vehicles within dynamic worlds usin...

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IEEE International Workshop on Intelligent Robots and Systems (IROS)

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

This paper proposes a new path planning approach based on statistical information, like the occupancy probability of partly or completely dynamic obstacles and/or the statistical flow of dynamic obstacles. With this new approach it is possible to integrate the expected behavior of moving obstacles into the preplanning of paths without knowing the individual movement of these dynamic obstacles. As the preplanned paths coincide with the average movement pattern in the environment, the runtime planning is simplified. The authors propose an appropriate world model to represent the necessary statistical data, which can be obtained automatically. In addition, a path planning approach, suited for point-shaped and arbitrary-shaped vehicles, is sketched. These paths integrate geometrical detours to fit the planned movements into the statistical movement pattern of the dynamic obstacles.< >

关键词： Path planning Vehicle dynamics Process planning Probability Runtime environment Solid modeling Vehicle driving Robot control Velocity control Cameras

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Identification of robot dynamics with differential and integral models: a comparison

Identification of robot dynamics with differential and integ...

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IEEE International Conference on robotics and Automation (ICRA)

作者： M. Prufer C. Schmidt F. Wahl Inst. for Robotics & Comput. Control Tech. Univ. Braunschweig Germany Institute for Robotics and Computer Control Technical University of Braunschweig Brunswick Germany

Compares the integral model suggested by Gautier and Khalil (1988, 1989) for identification of robot dynamics with the differential equations of the robot. The advantage of identification by the integral model is, that no measurement of acceleration is required. Although appealing at a first glance, this approach yields problems in conjunction with the necessary least squares algorithm for parameter estimation. The authors even succeed in getting better results by employing the differential equations, without measurement of acceleration. It is shown, how to achieve reasonable good results with low noise by just derivating the position signals. Finally, the authors' results are illustrated by experiments with a direct driven two link robot.< >

关键词： Parameter estimation Integral equations Robot control Acceleration Service robots Position measurement Friction Differential equations Robot sensing systems Accelerometers

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