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IEEE International Workshop on Intelligent Robots and Systems (IROS)

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

In this paper the framework of an intelligent control system of a multi-finger robot hand is described, that is especially tailored for sensor-based object handling and assembly. The research has concerned with the Karlsruhe dextrous hand, a modular three-finger hand with 9 degrees of freedom, independent finger modules and integrated sensors. The total system structure consists of three embedded subsystems, with a planning and supervisory system on the top, which has a blackboard-like architecture to exchange information with a distributed real-time control system that provides force/position control strategies for dextrous grasping and manipulating of arbitrary objects. A programming and simulation system supports the object/task-based description of all robot and gripper actions required to perform a specific operation.< >

关键词： Robot programming Robotic assembly Force control Intelligent control Robot sensing systems Intelligent robots Assembly systems Fingers Intelligent sensors Strategic planning

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Object manipulation with dextrous multi-finger hands: improved computation method

Object manipulation with dextrous multi-finger hands: improv...

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IEEE International Workshop on Intelligent Robots and Systems (IROS)

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

This paper deals with the two fundamental problems that occur when objects are manipulated with multi-finger robot hands: the determination of the joint motions to perform a manipulation according to a given object trajectory, and the optimization of the joint torques needed to ensure a stable and secure grip. The consideration of the effect of rolling and slipping of the fingertips at the contact points on the object surface leads to a set of linear differential equations for the joint angles and to a partly nonlinear optimization problem for the joint torques solved by the Hooke-Jeeves algorithm. The removal of redundant information reduces the computational effort to about 40% of the operations required for the standard procedure. Especially, the resulting object motions are demonstrated at an example: the rotation of an ellipsoid object with the fingers of the Karlsruhe dextrous hand.< >

关键词： Robots Real time systems Equations Motion control control systems Fingers Grippers Automatic control Flowcharts Torque control

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Neural Network control of Grasp Forces for a Robot Hand

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IFAC Proceedings Volumes 1994年第4期27卷 139-143页

作者： K. Sundermann S. Fatikow Institute for Real-Tune Computer Control and Robotics Faculty for Informatics University of Karlsruhe D-76128 Karlsruhe Kaiserstraße 12 Federal Republic of Germany

In this paper, we present a neural-based force adaptation level of a multi-level system architecture for the intelligent force control of robotic grip systems. The control algorithms developed are 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.

关键词： Multifingered robot hands neural network control fuzzy control planning algorithm peg-in-hole insertion task robot simulation system

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Towards a coordinated development of numerical CACSD software: the RASP/SLICOT compatibility concept

Towards a coordinated development of numerical CACSD softwar...

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IEEE International Symposium on computer Aided control System Design (CACSD)

作者： G. Grubel A. Varga A. van den Boom A.J. Geurts Control Design Engineering Institute for Robotics and System Dynamics DLR-Oberpfaffenhofen Wessling Germany Department of Electrical Engineering Eindhovan University of Technology Eindhoven Netherlands Department of Mathematics & Computer Science Eindhovan University of Technology Eindhoven Netherlands

The concept of mutual compatibility is introduced. It has arisen from the cooperation of the developers of the RASP and SLICOT libraries. With this concept it becomes feasible to coordinate the development of several libraries leading to a reduction of software implementation and testing efforts without giving up the identity of the separate libraries. A first development along the lines of the mutual compatibility concept is the recently developed model reduction library RASP-MODRED.< >

关键词： Software libraries MATLAB Data structures Software testing Mathematics Size control Lighting control control design Design engineering Robot kinematics

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Fine motion planning in self overlapping driving channels and multiple mobile vehicle coordination

Fine motion planning in self overlapping driving channels an...

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Proceedings of 1993 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS '93)

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

After a short overview of a monitoring and navigation system for mobile vehicles (called MONAMOVE) consisting of multiple carriers of different size and an environment monitoring system, the navigation principle using one global navigator for gross motion planning and several local ones for fine motion planning is described. The coordination of multiple vehicles with their individual trajectories computed by the local navigators is managed by the global navigator using automatically computed crossings lying on a regular grid. This fine motion planning approach fulfills constraints like right orientation and continuous curvature along the paths; it bases on the computation of right oriented points which lie inside a driving channel (DC). These points are connected to the best right oriented line sequence without being a stupid following of the right border of the DC. Various extensions of this work are proposed.

关键词： Vehicle driving Navigation Vehicle dynamics Grid computing Path planning Production facilities Motion planning Mobile robots Remotely operated vehicles Monitoring

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The control Architecture of the Mobile System Priamos

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IFAC Proceedings Volumes 1993年第1期26卷 391-396页

作者： R. Dillmann J. Kreuziger F. Wallner University of Karlsruhe Department of Computer Science Institute for Real-Time Computer Control Systems & Robotics P.O. Box 6980. 7500 Karlsruhhe 1 Germany

In this paper the control architecture of the mobile robot system PRIAMOS 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 environnement. A solution for the problem bow 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 details. The architecture presented allows to execute motion tasks in partially unknown or changing environment in an efficient manner. Especially the time critical reflexive level is computationally less expensive than previous approaches

关键词： Intelligent machines navigation hierarchically intelligent control architecture obstacle avoidance robots sensors

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Leg synchronization of a walking machine by means of backpropagation-networks

Leg synchronization of a walking machine by means of backpro...

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International Joint Conference on Neural Networks (IJCNN)

作者： K. Berns St. Piekenbrock H. Dillmann Group Interactive Planning Research Centre for Computer Science University of Karlsruhe Germany Institute for Real Time Process Control and Robotics University of Karlsruhe Germany

In this paper various approaches to synchronize leg movement of a walking machine are reported. Backpropagation-networks with diverse topologies, different types of encodings of information and of training methods are... 详细信息

关键词： Leg Legged locomotion Network topology Mobile robots Robot kinematics Neural networks Propulsion Switches Foot computer science

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A new navigation concept for mobile vehicles

A new navigation concept for mobile vehicles

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IEEE International Conference on robotics and Automation (ICRA)

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

A hierarchical navigation system which delivers paths with continuous curvature for rectangularly-modeled vehicles is proposed. After a brief overview of the transport system consisting of omni wheel drive carriers, and on-carrier and off-carrier sensor components, the navigation module of this system is described. The multilevel navigation is based on a new polygonal partitioning of the Cartesian free-space, which allows a fast local modification of the partitions if obstacles are added or deleted. An A*-algorithm whose weight function is automatically adjusted by information on lower system levels delivers a coarse route through the environment (driving channel). Subsequently, a sequence of straight lines is generated, which are oriented along the right border of this channel. On the next level of path planning, curves are fitted into the corners of the line segment sequences to generate paths with continuous curvature. The generated, right-oriented paths are collision-free for rectangular modeled vehicles.< >

关键词： Navigation Path planning Wheels Sensor systems Joining processes Space vehicles Vehicle driving Mobile robots Robot sensing systems Robot control

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

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

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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

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PLANNING OF SENSING TASKS IN AN ASSEMBLY ENVIRONMENT

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

作者： WERLING, G Institute for Real-Time Computer Control Systems and Robotics University of Karlsruhe 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

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