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Efficient assembly sequence planning using stereographical projections of C-space obstacles

Efficient assembly sequence planning using stereographical p...

引用

IEEE International Symposium on Assembly and Manufacturing (ISAM)

作者： U. Thomas M. Barrenscheen F.M. Wahl Institute for Robotics and Process Control Technical University of Braunschweig Brunswick Germany

This paper presents a new assembly planner, which is based on stereographical projections of C-Space obstacles. The assembly planner applies the well-known assembly-by-disassembly strategy. The complete geometric feasible AND/OR-graph is built. For testing separability a new very fast approach has been implemented with the advantage of direct hardware support. The entire AND/OR-graph is valuated with respect to two criteria: separability and parallelism. We have generated example assembly plans for realistic industrial assemblies, which are modelled with more than two thousand triangles. Despite the fact of high model complexity, we can achieve reasonable computation times.

关键词： Robotic assembly Assembly systems robotics and automation Testing Service robots process control Parallel processing Computer industry Costs Manufacturing processes

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Shape from single stripe pattern illumination

Shape from single stripe pattern illumination

引用

24th Symposium of the German Pattern Recognition Association, DAGM 2002

作者： Winkelbach, S. Wahl, F.M. Institute for Robotics and Process Control Technical University of Braunschweig Mühlenpfordtstr. 23 D-38106 Braunschweig Germany

ISBN: (纸本)354044209X

This paper presents a strategy for rapid reconstruction of surfaces in 3d which only uses a single camera shot of an object illuminated with a simple stripe pattern. With this respect, it is a meaningful extension of our 'shape from 2d edge gradient' method introduced earlier. The reconstruction is based on determining stripe directions and stripe widths in the camera image in order to estimate surface orientation. I.e., this method does not use triangulation for range data acquisition, but rather computes surface normals. These normals can be 2d integrated and thus yield the surface coordinates;in addition they can be used to compute robust 3d features of free-form surfaces for object recognition, pose estimation, etc. The method is straightforward and very efficient by processing only one image and using only simple image processing operations. © Springer-Verlag Berlin Heidelberg 2002.

关键词： Object recognition

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A unified notation for serial, parallel, and hybrid kinematic structures

A unified notation for serial, parallel, and hybrid kinemati...

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IEEE International Conference on robotics and Automation (ICRA)

作者： U. Thomas I. Maciuszek F.M. Wahl Institute for Robotics and Process Control Technical University of Braunschweig Brunswick Germany

This paper proposes a new notation for kinematic structures which allows a unified description of serial, parallel, and hybrid robots or articulated machine tools. During the past decades, the Denavit-Hartenberg (DH) parameters have been used widely to describe serial kinematics of robots in science and industry. Till now, such a common notation for parallel manipulators has not yet been accepted. This paper tries to fill this gap by presenting a new notation, which is based on the graph representation known from gear trains. In parallel manipulators, spherical and cardan joints are widely used. In order to describe these kinds of joints, the DH-parameter notation has been extended, so that, to each joint as many joint variables can be assigned as degrees of freedom exist. The notation is not only very useful for design, programming, and simulation of parallel robots; it also can be applied as a convention to refer to parallel or hybrid kinematic structures elsewhere.

关键词： Kinematics Manipulators Parallel robots Service robots process control Machine tools Gears Motion planning Motion control Software tools

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Shape from 2D edge gradients 23rd

引用

23rd German Association for Pattern Recognition Symposium, DAGM 2001

作者： Winkelbach, S. Wahl, F.M. Institute for Robotics and Process Control Technical University of Braunschweig Hamburger Str 267 BraunschweigD-38114 Germany

ISBN: (纸本)3540425969

This paper presents a novel strategy for rapid reconstruction of 3d surfaces based on 2d gradient directions. I.e., this method does not use triangulation for range data acquisition, but rather computes surface normals. These normals are 2d integrated and thus yield the desired surface coordinates;in additionthey can be used to compute robust 3d features of free form surfaces. The reconstruction can be realized with uncalibrated systems by means of very fast and simple table look-up operations with moderate accuracy, or with calibrated systems with superior precision. © Springer-Verlag Berlin Heidelberg 2001.

关键词： Data acquisition

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A system for automatic planning, evaluation and execution of assembly sequences for industrial robots

A system for automatic planning, evaluation and execution of...

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IEEE International Workshop on Intelligent Robots and Systems (IROS)

作者： U. Thomas F.M. Wahl Institute of Robotics and Process Control Technical University of Braunschweig Brunswick Germany

This paper describes a new system to automatically generate, evaluate and execute assembly sequences, With the commands generated by the system, robots are enabled to assemble complex products without explicit robot programming. Our approach uses CAD-models, symbolic spatial relations and a robot work cell description as input. The system provides a user-friendly interface to define the goal state of the parts to be assembled. The automatically generated and decomposed assembly plans can be executed by robots by means of a set of predefined skill primitives. For this purpose we classify the robot tasks by analyzing the symbolic spatial relations between the objects to be assembled, the depart-spaces and the necessary tools. The tasks are decomposed into suitable elementary robot operations, the skills, automatically. For guiding the robot during assembly we employ internal and external sensors.

关键词： Robotic assembly Assembly systems Service robots robotics and automation Robot sensing systems Electrical equipment industry Industrial control Manufacturing automation Fasteners process planning

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Generating polyhedral convex cones from contact graphs for the identification of assembly process states

Generating polyhedral convex cones from contact graphs for t...

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IEEE International Conference on robotics and Automation (ICRA)

作者： H. Mosemann T. Bierwirth F. Wahl S.A. Stoeter Institute for Robotics and Process Control Technical University of Braunschweig Brunswick Germany Artificial Intelligence Robotics and Vision Laboratory Department of Computer Science and Engineering University of Minnesota Minneapolis USA

A new approach to automatically generate polyhedral convex cones from contact graphs for identification of assembly process states is presented. The state of contact between subassemblies is changing as operation proceeds in manipulative tasks such as part-mating. Measured contact forces and the resulting torques provide information about the contact geometry which is used to guide the assembly operation. In this paper, we present a method to calculate contact graphs for polyhedral subassemblies. The nodes of the contact graph represent contact formations of the subassemblies and the arcs represent neighborhoods of contact formations. This information is used to generate polyhedral convex cones for each contact formation considering friction. These polyhedral convex cones describe static equilibrium for each contact formation and are used to identify the contact state by measuring forces and torques during a part-mating.

关键词： Robotic assembly Force measurement Torque measurement Assembly systems Intelligent robots Friction Robot sensing systems Robot vision systems robotics and automation Uncertainty

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Identification of assembly process states using polyhedral convex cones

Identification of assembly process states using polyhedral c...

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IEEE International Conference on robotics and Automation (ICRA)

作者： H. Mosemann A. Raue F. Wahl Institute for Robotics and Process Control Technical University of Braunschweig Brunswick Germany

The execution of automatically generated assembly plans by robots is one of the key technologies of modern and flexible manufacturing. During the execution of assembly sequences the robot comes into contact with the environment. Since there are positional and geometrical uncertainties from object representation, robot motion, and sensor information, compliance is used typically to prevent excessive contact forces. The contact forces and the resulting torques provide information about the contact geometry which is used to guide the assembly operation. We present a fast algorithm to identify assembly process states considering static friction under uniform gravity. This identification of assembly process states enables a robot to select and modify its motion strategies adequately according to the state. We give a symbolic representation of contact states and analyze the static properties of assemblies at each contact state by using the theory of polyhedral convex cones.

关键词： Robotic assembly Robot sensing systems robotics and automation Flexible manufacturing systems Manufacturing automation Uncertainty Robot motion Computational geometry Information geometry Friction

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Sensor-based obstacle modeling in configuration space for manipulator motion planning 1

Sensor-based obstacle modeling in configuration space for ma...

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1st Workshop on Robot Motion and control, RoMoCo 1999

作者： Li, Wei Chen, Zushun Wahl, F.M. Kozlowski, Krzysztof R. Department of Computer Science and Technology Tsinghua University Beijing100084 China Institute for Robotics and Process Control Technical University of Braunschweig Hamburger Str. 267 BraunschweigD-38114 Germany Poznań University of Technology Department of Control Robotics and Computer Science Ul. Piotrowo 3a Poznań60-965 Poland

ISBN: (纸本)0780356551

This paper presents an approach to sensor-based obstacle modeling in a configuration space for manipulator motion planning in unknown environments. In order to achieve this objective, an efficient algorithm is used to fast map obstacles based on defined fundamental obstacles in the workspace and their images in the configuration space. A robotic manipulator is assumed to be equipped with distance" sensors to detect obstacles inthe local region. By computation of the critical points of an obstacle based on information acquired by the distance" sensors, an obstacle model in the configuration space is constructed. By using this sensor-based configuration space modeling, robot motion planning in unknown environments can be performed in realistic time frames. © 1999 IEEE.

关键词： Wave functions

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Vision-based behavior control of autonomous systems by fuzzy reasoning 3rd

引用

3rd International Workshop on Modelling and Integration of Sensor Based Intelligent Robot Systems, 1998

作者： Li, Wei Wahl, Friedrich M. Zhou, Jiangzhong Z. Wang, Hong He, Kezhong Z. Department of Computer Science and Technology Tsinghua University Beijing100084 China Institute for Robotics and Process Control Technical University of Braunschweig Hamburger Str. 267 BraunschweigD-38114 Germany Institute for Computer Peripherals Chinese Academic of Sciences Wuhan430050 China

ISBN: (纸本)3540669337

Vision-based motion control of an autonomous vehicle operating in real world requires fast image processing and robustness with respect to noisy sensor readings and with respect to varying illumination conditions. In order to improve vehicle navigation performance in out-door environments, this paper presents methods for recognizing landmarks based on fuzzy reasoning. Firstly, a fuzzy thresholding algorithm is proposed to segment roads and to extract white line marks on streets from images. Secondly, some special domain knowledge about edges on roads represented by fuzzy sets is integrated into the rule base of a fuzzy edge detector. Based on this, the fuzzy thresholding algorithm is adopted to recognize road edges. In addition, a method for path planning in sensor space is presented and a path following behavior based on a fuzzy rule base is defined to control vehicle motion. The proposed methods are applied to navigate the THMR-III autonomous vehicle in out-door environments. Some experimental driving maneuvers have been performed to prove their effectiveness and their robustness.…. © Springer-Verlag Berlin Heidelberg 1999.

关键词： Fuzzy inference

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Planning of regrasp operations

Planning of regrasp operations

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IEEE International Conference on robotics and Automation (ICRA)

作者： S.A. Stoeter S. Voss N.P. Papanikolopoulos H. Mosemann Artificial Intelligence Robotics and Vision Laboratory Department of Computer Science and Engineering University of Minnesota Minneapolis MN USA Institute for Robotics and Process Control Technical University of Braunschweig Germany

Robotic manipulators in contemporary work-cells are often incapable of solving even simple pick-and-place operations. More specifically, most systems require each object to be supplied in the same and pre-defined way. Introducing regrasping to the production cycle relaxes the constraints imposed on supply mechanisms. Regrasping describes the operation that must be performed whenever an object's pick-up grasp is incompatible with its put-down grasp. The paper presents a novel approach to solve the regrasp problem for robots equipped with parallel-jaw end-effecters. The proposed method first evaluates the object's possible grasps and placements. These are subsequently combined to form grasp-placement-grasp triples. A regrasp sequence leading from the pick-up to the put-down grasp is generated by searching through the resulting space of compatible grasp-placement-grasp triples. The algorithm takes kinematic and geometric constraints of both the manipulator and the objects into account. Computational concerns are addressed by subdividing the calculation into an off-line and a fast online phase.

关键词： Intelligent robots Robot vision systems Belts Path planning Artificial intelligence Laboratories Computer science process control Manipulators Production

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