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AN ACTION-BASED PROCESS MODEL FOR DEXTEROUS MULTIFINGER HANDS

JOURNAL OF INTELLIGENT & ROBOTIC SYSTEMS 1991年第3期4卷 201-219页

作者： WOHLKE, G BRAUN, T Institute for Real-Time Computer Control Systems and Robotics Faculty for Informatics University of Karlsruhe Karlsruhe Germany

In this article, the development of an action-based process model is described which was especially tailored to the needs of modelling and simulating multifinger hands. The research has been concerned with a description technique using constraints for modelling the working environment and with the design of an appropriate process model for simulating complex movements of manipulation objects with multifinger hands. The paper presents the results of an object-oriented approach to the proposed model and consists of two parts: a constraint net that describes the connections and relations between cell components (robots, grippers, objects) in the working environment and a propagation algorithm that computes the new locations regarding the modifications and logical dependencies.

关键词： SYSTEM SIMULATION PROCESS MODEL CONSTRAINT NET PROPAGATION ALGORITHM OBJECT-ORIENTED PROGRAMMING

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Manipulator classification by means of a kinematics description language

Manipulator classification by means of a kinematics descript...

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International Conference on Advanced robotics (ICAR)

作者： H. Schrake H. Rieseler F. Wahl Institute of Robotics and Computer Control Technical University of Braunschweig Brunswick Germany

This paper presents a universal test data generator for the systematic evaluation of inverse kinematics systems. A Denavit-Hartenberg parameter based kinematics description language LDL has been developed; it is used as input language for the generator. LDL allows the expression of kinematic and geometric constraints, which have to be satisfied by the resulting generated kinematics. Moreover, it is possible to generate certain well-known classes of manipulators. Combining the basic features and different kinds of constraints, a LDL program can be used to define and to generate classes of manipulators.< >

关键词： Kinematics Closed-form solution Manipulators System testing Robot control Telephony Iterative algorithms Computational geometry Computational complexity Application software

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Path generation with a universal 3d sensor

Path generation with a universal 3d sensor

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IEEE International Conference on robotics and Automation (ICRA)

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

The integration of a three-dimensional sensor into a robot workcell is described. The sensor is based on the well-known coded light approach (CLA). The CCD camera of the CLA is mounted at the robot's hand and one or more projectors are fixed outside the robot's work space. The principle of the CLA and the calibration of th robot-sensor-system are explained. An application in which the tool of the robot follows an unknown path on an arbitrary surface is presented. For evaluation reasons the deviation from the surface coordinates are simultaneously measured by a gage, allowing a quantitative error analysis.< >

关键词： Robot kinematics Orbital robotics Robot sensing systems Sensor phenomena and characterization Charge coupled devices Robot vision systems Charge-coupled image sensors Cameras Calibration Coordinate measuring machines

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Dealing with unexpected situations during the execution of robot motions

Dealing with unexpected situations during the execution of r...

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IEEE International Conference on robotics and Automation (ICRA)

作者： M. Spreng Institute for Real-Time Computer Control Systems and Robotics University of Karlsruhe Karlsruhe Germany

The problem of a polygonal object moving in an uncertain polygonal environment, i.e. the positions and orientations of the objects relative to each other are not exactly known, is addressed. Furthermore, the moving object does not move exactly as it is commanded to move. Due to these uncertainties, even a motion generated by a correct motion planner may fail, i.e. for instance, an unexpected contact may occur. A situation analyzer that enables the moving object to acquire information on a contact situation is presented. This analyzer uses the nominal world model including information on the magnitude of the uncertainties in order to get hypotheses on the geometric entities involved in the contact. The discrimination among the hypotheses is based on test motions, i.e. motions whose feasibility depends on the validity of a certain subset of the hypotheses.< >

关键词： Uncertainty Testing Information analysis Robotic assembly Real time systems Motion control Robot control control systems Solid modeling Environmental economics

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Situation analysis exploiting feasibility constraints in uncertain environments

Situation analysis exploiting feasibility constraints in unc...

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International Conference on Advanced robotics (ICAR)

作者： M. Spreng Institute of Real-Time Computer Control Systems and Robotics University of Karlsruhe Karlsruhe Germany

Deals with the problem of uncertainties in the nominal world model of a robot. In particular, the problem of analyzing unexpected situations in a 2D polygonal world is attacked. Such a situation analysis can be used to acquire information on a contact situation encountered during the execution of a motion. The analysis is based on the concept of so-called test motions, i.e. motions, the feasibility of which depends on the actual contact situation present. Using a probabilistic uncertainty model, the focus is on the computation of motion constraints due to contact and the resulting selection of an optimal test motion.< >

关键词： Uncertainty Motion analysis Testing Information analysis Robot sensing systems Real time systems Robot control control systems Performance evaluation Sensor systems

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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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A programming and simulation environment for the karlsruhe dextrous hand

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robotics and Autonomous Systems 1990年第3期6卷 243-263页

作者： Wöhlke, G. Institute for Real-Time Computer Control and Robotics Faculty for Informatics University of Karlsruhe Karlsruhe7500 Germany

In this paper the development of a programming and simulation environment is described, which was especially tailored for programming of multifinger hands. The research has concerned with the programming of the Karlsruhe Dextrous Hand, a non-anthropomorphic three finger gripper with 9 degrees of freedom, which is being developed at our institute. The work presents the results of a task-oriented approach to the object manipulation problem and contains two main parts: a system programming module and an application programming module. This realization supports the interactive generation and evaluation of a hand program using graphical simulation. © 1990 Elsevier Science Publishers B.V.

关键词： Degrees of freedom (mechanics)

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INCREMENTAL FUZZY EXPERT PID control

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IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS 1990年第5期37卷 365-371页

作者： TZAFESTAS, S PAPANIKOLOPOULOS, NP Div. of Comput. Eng. Nat. Tech. Univ. of Athens Greece Department of Electrical and Computer Engineering the Robotics Institute Carnegie Mellon University Pittsburgh PA USA Robotics and Control Laboratory Computer Engineering Division National and Technical University of Athens Athens Greece

An approach to intelligent PID (proportional integral derivative) control of industrial systems which is based on the application of fuzzy logic is presented. This approach assumes that one has available nominal controller parameter settings through some classical tuning technique (Ziegler-Nichols, Kalman, etc.). By using an appropriate fuzzy matrix (similar to Macvicar-Whelan matrix), it is possible to determine small changes on these values during the system operation, and these lead to improved performance of the transient and steady behavior of the closed-loop system. This is achieved at the expense of some small extra computational effort, which can be very easily undertaken by a microprocessor. Several experimental results illustrate the improvements achieved.< >

关键词： Fuzzy control Three-term control PD control Pi control Proportional control control systems Electrical equipment industry Industrial control Fuzzy logic Kalman filters

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A three fingered, multijointed gripper for experimental use

A three fingered, multijointed gripper for experimental use

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1990 IEEE International Workshop on Intelligent Robots and Systems, IROS 1990

作者： Paetsch, W. Kaneko, M. Technical University of Darmstadt Department of Control Engeneering Control Systems Theory and Robotics Section Germany Kyushu Institute of Technology Computer Science and System Engeneering Kawazu 680-4 Iizuka820 Japan

A three fingered, multijointed robot gripper for experimental use is presented. The mechanics as well as the control architecture are designed for this special purpose. The gripper system provides the basic means in terms of position and force control to perform experiments about grasping and object motion in a useful way. The gripper will be used to develop and evaluate different approaches of stable grasping and object manipulation. First results of the control of the gripper on joint level as well as the cartesian behaviour of the fingers and some results and experiences with first grasping and manipulation experiments using the presented system are reported. © 1990 institute of Electrical and Electronics Engineers Inc.. All rights reserved.

关键词： Grippers

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computer Aided Layout Planning for Robot Assembly Applications

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IFAC Proceedings Volumes 1990年第3期23卷 159-164页

作者： M. Huck Institute for Real-time Computer Control Systems and Robotics Faculty for Informatics University of Karlsuhe Karlsruhe FRG

This paper presents ROSI-Layout, a computer aided planning system for the generation of suitable workcell layouts for robot assembly applications. The idea is to derive first the spatial transformations for the product parts, which lead to the assembly of the final product. A global database provides the product data and the precedence graph. This information comes from product design and assembly planning. The design of spatial transformations is derived from constraints given by the geometric shape of the product parts and from rules that define how assembly with robots should be accomplished. This is followed by the generation of a suitable layout. A layout can be developed that is specially designed for the product to be assembled. During the entire planning session, the database manages all planning data and ensures consisteny. ROSI-Layout is an extension of the RObot Simulation system ROSI.

关键词： computer-aided planning workcell design layout planning robot assembly robot simulation assembly planning work frame data model

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