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IEEE International Conference on Image processing

作者： B. Krebs B. Korn F.M. Wahl Institute for Robotics and Computer Control Technical University of Braunschweig Brunswick Germany

Introducing general CAD descriptions in object recognition systems has become a major field of research called CAD based vision (CBV). However, the major problem using free-form object descriptions is how to define recognizable features which can be extracted from sensor data. We propose new methods for the extraction of 3D space carves from CAD models and from range data. Object identification is performed by correlating feature vectors from significant subcurves.

关键词： Spline Object recognition Data mining Sensor phenomena and characterization

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PRIPES: a multiprocessor based system for programming and controlling manipulators in robotic applications

PRIPES: a multiprocessor based system for programming and co...

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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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CAD method for industrial assembly, concurrent design of products, equipment and control systems

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Computer-Aided Design 1997年第10期29卷 737-737页

作者： Frank Röhrdanz Institute for Robotics and Process Control Technical University of Braunschweig Germany

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Interactive multiobjective decision-making approach to image reconstruction from projections

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SIGNAL processING 1996年第1期48卷 67-75页

作者： Wang, YM Wahl, FM Institute of Robotics and Process Control Technical University of Braunschweig Hamburger Street 267 Braunschweig D-38114 Germany

In this paper we propose an interactive multiobjective decision making method based on three criteria functions for image reconstruction. Image reconstruction based on this method is shown to be superior to conventional iterative reconstruction algorithms such as SIRT (Simultaneous Interactive Reconstruction Technique) from the point of view of accuracy of reconstruction. Computer simulation using the multiobjective method shows a significant improvement in image quality and convergence behavior over the conventional algorithms.

关键词： multicriteria image reconstruction multiobjective optimization

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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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Generating and evaluating stable assembly sequences

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Advanced robotics 1996年第2期11.0卷 97-126页

作者： RÖhrdanz, F. Mosemann, H. Wahl, F. Institute of Robotics and Process Control Technical University of Braunschweig Braunschweig 38114 Hamburger Strasse 267 Germany

High-level assembly planning systems generate plans for the automated assembly of mechanical products by robots. The sequences to be generated underlie several physical and geometrical constraints, and in addition have to be efficient to increase productivity. The challenges still facingthe field are to develop efficient and robust analysis tools, and to develop planners capable of finding optimal or near-optimal sequences rather than just feasible sequences. The presented high level assembly planning system ^High LAP automatically considers physical and geometricalconstraints to generate and to evaluate stable assembly sequences. In this paper we propose a relational assembly model including a CAD description and the specification of features and relations of the assembly components. We use an optional specification of an arbitrary hierarchy of assembliesto speed up and guide the generation of sequences. ^High LAP evaluates all feasible assembly sequences considering several criteria like separability and manipulability of the generated (sub)assemblies. Furthermore, the necessity of reorientation for a mating operation and parallelismduring plan execution are considered. Another important criterion is the stability of the generated (sub)assemblies. Most of the assembly planners developed up to date use heuristical or user-defined criteria to determine assembly stability for plan evaluation. The presented system is thefirst assembly planning system which automatically determines the range of all stable orientations of an assembly for plan evaluation. Therefore, we introduce a stability metric and an algorithm to calculate all stable orientations of an assembly considering friction. Experimental resultsare presented to demonstrate the efficiency of our assembly planning system. © 1996 Taylor & Francis Group, LLC.

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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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/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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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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