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IEEE International Conference on Industrial Technology (ICIT)

作者： Franz Dietrich Frank Wobbe Dirk Buchholz Frank Sowinski Annika Raatz Walter Schumacher Friedrich M. Wahl Institute of Machine Tools and Production Technology Technische Universitäat Braunschweig Brunswick Germany Institute of Control Engineering Technische Universitäat Braunschweig Brunswick Germany Institute of Robotics and Process Control Technische Universitäat Braunschweig Brunswick Germany

ISBN: (纸本)9781424456956

This article presents the application and enhancements of assembly strategies using force-torque maps in view of parallel robots. Starting from classical assembly strategies the fundamentals of force-torque maps are briefly discussed. Taking up the core idea, a strategy for assembling objects by parallel robots is proposed, where frictional effects are reduced by an enhanced force and position control. Special attention is paid to acquisition of force-torque maps with respect to parameter sensitivity. Practical issues are pointed out and discussed in view of industrial applications. A quality assessment of force-torque maps based on a redundancy index is introduced hinting at the performance and possibilities of optimization of the assembly strategy.

关键词： Robotic assembly Parallel robots Robustness Position control Uncertainty Collaboration Kinematics Robot programming Force control Quality assessment

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Kinematic path-following control of a mobile robot on arbitrary surface

Kinematic path-following control of a mobile robot on arbitr...

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IEEE International Conference on robotics and Automation (ICRA)

作者： Gavin Kane Robert Boesecke Jörg Raczkowsky Heinz Wörn Institute of Process Control and Robotics University of Karlsruhe Karlsruhe Germany The Department of Cranio Maxillofacial Surgery University Hospital of Heidelberg Heidelberg Germany Department of Crania Maxilla Facial Surgery University of Karlsruhe Heidelberg Germany

This paper outlines a method for applying a kinematic path following control of a mobile robot without any regard for surface structure. Background. A great deal of mobile robotics kinematics analysis is based on the movement of the robot on a two dimensional flat surface. Our application for precision surgery required a new approach to a system that would operate on a highly non-linear surface; this specific system was a surgical robot that would conduct craniotomies while moving over highly irregular and often deformed skulls. Methods. The approach used an abstract view of the operating environment that would totally ignore the surface, instead determining the control parameters based only on the robot and the desired cutting trajectory. The approach was then evaluated in a 3D environment using a series of predefined surfaces to determine bounding limits in the control theory. These limits were then tested in a second series of tests using real data from the CT preoperative imagery of previous patients and phantoms. The simulation results were then compared with the actual performance of the robot on phantoms and cadavers. Results. The approach has been successfully implemented on the first medical robot to position itself through spiked wheels on the surface of the skull. Testing has to date been successful in both a simulation environment, and on initial phantom and cadiever trials, with accuracies equal to that of the larger industrial modified surgical robots.

关键词： Kinematics Mobile robots Medical robotics Testing Imaging phantoms Medical simulation Surface structures Surgery control theory Computed tomography

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A low-cost Hexa platform for efficient force control systems using industrial manipulators

Solid State Phenomena

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Solid State Phenomena 2009年 147-149卷 1-6页

作者： Osypiuk, Rafal Kröger, Torsten Szczecin University of Technology Institute of Control Engineering 26 Kwietnia 10 Szczecin71-126 Poland Technical University of Braunschweig Institute for Robotics and Process Control Muehlenpfordtstrasse 23 BraunschweigD-38106 Germany

This contribution presents a new force control concept for industrial six-degree of freedom (DOF) manipulators, which uses a Hexa platform that provides an active environmental stiffness for all six DOFs. The paper focuses on the Hexa platform and is split into two essential parts: (i) parallel platform construction, and (ii) application of force control with industrial manipulators using a six-DOF environmental stiffness. This mechatronic solution almost gives one hundred percent robustness for stiffness changes in the environment, what guaranties a significant shortening of execution time. © (2009) Trans Tech Publications, Switzerland.

关键词： Force control

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A low-cost Hexa platform for efficient force control systems using industrial manipulators

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作者： Osypiuk, Rafal Kröger, Torsten Szczecin University of Technology Institute of Control Engineering 26 Kwietnia 10 71-126 Szczecin Poland Technical University of Braunschweig Institute for Robotics and Process Control Muehlenpfordtstrasse 23 D-38106 Braunschweig Germany

ISBN: (纸本)3908451655

关键词： Force control

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End-effector calibration and registration procedure for robot assisted laser material processing: Tailored to the particular needs of short pulsed CO2 laser bone ablation

End-effector calibration and registration procedure for robo...

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IEEE International Conference on robotics and Automation (ICRA)

作者： Jessica Burgner Joerg Raczkowsky Heinz Woern Institute of Process Control and Robotics Universitaet Karlsruhe Germany

Material processing using a laser has become a widely used method for industrial procedures (e.g. laser welding or cutting). Furthermore the medical laser has become an integral part of dermatology, neurosurgery, ENT, esthetic, plastic and general surgery. Recent publications have shown, that the short pulsed CO 2 laser is suitable to ablate bony and cartilage tissue and proposes fundamentally new operative techniques in medicine. The obtainable precision in cutting (in the hundred micrometers range) with a laser system can only be reached using means of computer and robot assisted surgery. We established the first robot assisted laser bone ablation setup, comprising a prototype CO 2 laser system and a six degree of freedom robot. The laser beam is guided through a passive articulated mirror arm to the robots end-effector. The end-effector is composed of a two mirror galvanometric scan head, which deflects the pulsed laser beam onto the tissue. In this paper we present an end-effector calibration and registration method to determine the parameters which are critical in obtaining precise and accurate cutting results.

关键词： Calibration Robots Materials processing Optical pulses Laser beam cutting Laser ablation Medical robotics Laser surgery Laser beams Mirrors

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Robot assisted laser bone processing: Marking and cutting experiments

Robot assisted laser bone processing: Marking and cutting ex...

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International Conference on Advanced robotics (ICAR)

作者： Jessica Burgner Meiko Mueller Joerg Raczkowsky Heinz Woern Institute of Process Control and Robotics (IPR) Universitaet Karlsruhe Germany

processing bony tissue using robot assisted laser ablation is a promising new method, which facilitates to manipulate bone in mum range. Developing the first setup for robot assisted laser processing of bone necessitates on the one hand suitable planning and simulation techniques. Especially planning of the ablation pattern, i.e. the placement of single laser pulses is a crucial step. On the other hand the maximal achievable accuracy performing laser cutting is in the range of the single spot size of a laser pulse. Therefore the assembly of all components and the methods applied for the execution is of high importance. We established the first setup for robot assisted laser ablation of bone. The workflow starts with the planning of the marking or cutting geometry on a surface model of the patient. Afterwards a simulation allows to verify the expected of the procedure. In order to evaluate our system we performed marking and cutting experiments, which are presented in this contribution. For the first time an osteotomy of cadaver femoral cow bone was performed using robot assisted laser ablation.

关键词： Robots Laser beam cutting Bones Laser ablation Laser modes Optical pulses process planning Robotic assembly Geometrical optics Computational geometry

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Increasing the accuracy with a rich sensor system for robotic laser osteotomy

Increasing the accuracy with a rich sensor system for roboti...

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IEEE SENSORS

作者： Holger Mönnich Jörg Raczkowsky Daniel Stein Heinz Wörn Institute for Process Control and Robotics University of Karlsruhe Karlsruhe Germany

In laser osteotomy bone is cut precisely with a laser. A robot is used to position an end-effector with a scanhead, which deflects the cutting laser. An optical tracking system (OTS) tracks the position of the bone, in our case a skull, and the end effector. The skull is registered to its model, based on a segmented CT data, as well as the robot to the OTS. With this a complete transformation chain between the model and the robot coordinate system is given. Using the transformation chain the positions, where the laser beam is emitted and where it has to incise the skull, can be computed for the robot coordinate system. The complete registration processes introduce different errors in every step. To achieve clean cuts the correct distance between scanhead and ablated bone segment is crucial. Therefore a distance sensor is attached to the end-effector, measuring the distance to the skull with an accuracy of 100 ¿m. The value is used to adjust the positioning to the correct distance.

关键词： Sensor systems Robot sensing systems Robot kinematics Laser beam cutting Skull Bones Laser modes Optical sensors End effectors Laser beams

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Tactile sensor and algorithm to detect slip in robot grasping processes

Tactile sensor and algorithm to detect slip in robot graspin...

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IEEE International Conference on robotics and Biomimetics

作者： Dirk Goeger Nico Ecker Heinz Woern Institute of Process control and Robotics University of Karlsruhe Karlsruhe Germany

In this paper we introduce a tactile slip sensor for an anthropomorphic robot hand, the measurement circuit and the corresponding algorithm to determine slip states. The main slip sensor components consist of a silicone rubber surface which covers a PVDF sensor. After the amplification of the signal it is processed by a discrete short-time Fourier transform. The resulting spectrogram is processed by a principal component analysis to determine the main signal components. For a classification of three states (dasiaslippsila, dasiasignal but no slippsila and dasianoisepsila) a k-nearest neighbour classifier has been trained with the main signal components and serves for discrimination of slip states on the sensor's surface. The build-up of the sensor and the experimental setup will be briefly explained, the signal processing and the results will be discussed in detail.

关键词： Tactile sensors Robot sensing systems Signal processing Signal processing algorithms Grasping Anthropomorphism Circuits Rubber Fourier transforms Spectrogram

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Static compensation for wrist mounted force torque sensor

Static compensation for wrist mounted force torque sensor

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IEEE International Conference on Intelligent Engineering Systems (INES)

作者： Ricardo A. Tauro Benedikt Kaiser Hein Worn Institute of Process Control and Robotics University of Karlsruhe Karlsruhe Germany

This paper presents and evaluates a new technique for the calibration and compensation of static error of force/torque (F/T) sensors. The presented approach is based on a learning algorithm. A Modified Nearest Neighbor algorithm is presented to compensate non-linear errors, produced by the weight of the end effector or by the internal offset of a wrist mounted F/T sensor of a 6 degree of freedom (DOF) industrial robot.

关键词： Wrist Force sensors Torque Robot sensing systems Calibration Service robots End effectors Force control robotics and automation Sensor systems

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High precision cochleostomy by use of a pulsed CO₂ laser - an experimental approach

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Cochlear Implants International 2009年第SUPPL. 1期10卷 58-62页

作者： Klenzner, Thomas Knapp, Felix B. Schipper, Joerg Raczkowsky, Joerg Woern, Heinz Kahrs, Lueder A. Werner, Martin Hering, Peter University Hospital Department of Otorhinolaryngology Head and Neck Surgery Duesseldorf Germany Institute for Process Control and Robotics University Karlsruhe (TH) Germany Centre of Advanced European Studies and Research Bonn Germany

A precise cochleostomy is a crucial step in cochlear implantation, particularly if residual hearing is to be preserved. A contactless ablation of the promontory bone by a pulsed CO₂ laser system seems to be a promising approach. The bone is removed by a scan head controlled laser beam in sequential scan cycles with a pulse rate of 50-100 μs. Digital picture analysis and pattern detection are used to identify the membranous lining of the cochlea. We achieved a bone ablation in a micrometer range per scan cycle with the laser. A perforation of the promontory bone could be detected by automatic pattern detection. The enhancement of automatic pattern detection can lead to a minimally invasive, function-preserving laser cochleostomy. © 2009 John Wiley & Sons, Ltd.

关键词： Bone Cochleostomy Digital image processing Laser Precision

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