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Intelligent Mobile Robot Guidance in Time-Varying Environments by Using a Global Monitoring System

IFAC Proceedings Volumes 1998年第3期31卷 291-296页

作者： E. Kruse R. Gutsche F.M. Wahl Institute for Robotics and Process Control Technical University of Braunschweig Hamburger Str. 267 D-38114 Braunschweig Germany

Mobile robots for advanced applications have to act in environments which contain moving obstacles (e.g. humans). Motions of obstacles usually are not precisely predictable. Thus, it is not possible to guarantee pre-planned paths to be collision-free. Instead, permanent sensor-based control and guidance is required. This paper favors the concept of employing an external sensor system in order to perform global navigation of the robot. Principles and results of an experimental system are presented: Sensing is done with CCD cameras and difference image analysis. The data is furnished to different modules regarding robot localization, motion planning and collision avoidance. Further focus is put on motion planning: By employing statistical data about average obstacle behavior, an advanced planning technique yields motions which are well adapted to the dynamic environment.

关键词： Mobile robots Automated guided vehicles Robot navigation Path planning Obstacle detection Obstacle avoidance Image processing Probabilistic models Statistics

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Development of a neural controller for motion control of a piezoelectric three-legged micromanipulation robot

Development of a neural controller for motion control of a p...

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IEEE International Workshop on Intelligent Robots and Systems (IROS)

作者： K. Santa S. Fatikow Department for Computer Science Institute for Process Control and Robotics University of Karlsruhe Karlsruhe Germany

Micromanipulation by microrobots has become an issue of primary importance in industry and biomedicine, since human manual capabilities are restricted to certain tolerances. The manipulation of biological cells or the assembly of a microsystem composed of several microcomponents are good examples. An automated microrobot-based micromanipulation desktop station has been developed at the University of Karlsruhe. The process of assembly takes place in the field of view of a light optical microscope. This paper focuses on motion control problems of the piezo-driven microrobots employed by the station. The ability to adapt itself to the process requirements is of great importance for micromanipulation robots. They must be able to operate in a partially defined environment and to ensure reasonable behaviour in unpredicted situations. A neural control concept based on a reference model is proposed as a solution. It is shown, that the neural controller is able to learn the desired behaviour. It considerably outperforms an analytically designed linear controller in the real environment.

关键词： Motion control Automatic control Mobile robots Service robots process control Optical microscopy Glass Robot sensing systems Leg Computer science

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Sensor system for controlling a multifingered gripper on a robot arm

Sensor system for controlling a multifingered gripper on a r...

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Proceedings. 1998 IEEE/RSJ International Conference on Intelligent Robots and Systems. Innovations in Theory, Practice and Applications (Cat. No.98CH36190)

作者： Th. Fischer Department of Computer Science Institute for Process Control and Robotics University of Karlsruhe Karlsruhe Germany

In the last few years different multifingered grippers have been developed and a lot of research work has been done in the field of grasping and manipulating objects with such grippers. With the help of fingers it is possible to grasp different objects with different shapes without having to change the gripper. To use a multifingered gripper in industrial applications it has to be mounted on another robot to enhance the working space. In the paper the requirements of a multifingered gripper on a robot arm in a manipulation station are discussed, with particular attention given to one part of the sensor system: the object state sensor. This sensor provides the control system with information about the object to be grasped.

关键词： Sensor systems control systems Grippers Robot sensing systems Fingers Orbital robotics Service robots Shape Aerospace industry Computer science

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Dynamically shared control in human-robot teams through physical interactions

Dynamically shared control in human-robot teams through phys...

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IEEE International Workshop on Intelligent Robots and Systems (IROS)

作者： T. Hoeniger Department of Computer Science Institute for Process Control and Robotics University of Karlsruhe Karlsruhe Germany

An intelligent robot control scheme is presented which enables a cooperative work of humans and robots through direct contact interaction in a partially known environment. The control of the degrees of freedom of the manipulator is shared through a hybrid controller between the operator and the intelligent control system. The allocation of the control among human and robot occurs dynamically according to the state of the task execution and the capabilities of the human and the robot. Experiments were conducted to prove the effectiveness of our concept.

关键词： Intelligent robots Service robots Human robot interaction Medical robotics control systems Manipulators Intelligent control Robot sensing systems Cognitive robotics Uncertainty

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On-line path planning by heuristic hierarchical search

On-line path planning by heuristic hierarchical search

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Annual Conference of Industrial Electronics Society

作者： D. Henrich C. Wurll H. Worn Institute for Process Control and Robotics (IPR) Computer Science Department University of Karlsruhe Karlsruhe Germany

In this paper, the problem of path planning for robot manipulators with six degrees of freedom in an on-line provided three-dimensional environment is investigated. As a basic approach, the best-first algorithm is used to search in the implicit discrete configuration space. Collisions are detected in the Cartesian workspace by hierarchical distance computation based on the given CAD model. The basic approach is extended by three simple mechanisms and results in a heuristic hierarchical search. This is done by adjusting the stepsize of the search to the distance between the robot and the obstacles. As a first step, we show encouraging experimental results with two degrees of freedom for five typical benchmark problems.

关键词： Path planning Service robots Orbital robotics Robotic assembly Computational geometry Motion planning process control Intellectual property Computer science Manipulators

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Fast mapping using the log-Hough transformation

Fast mapping using the log-Hough transformation

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Proceedings. 1998 IEEE/RSJ International Conference on Intelligent Robots and Systems. Innovations in Theory, Practice and Applications (Cat. No.98CH36190)

作者： B. Giesler R. Graf R. Dillmann C.F.R. Weiman Institute for Process Control and Robotics(IPR) University of Karlsruhe Karlsruhe Germany HelpMate Robotics Inc. Danbury CT USA

Environment mapping is a very complex procedure that requires high CPU performance. For the last few years, laser scanners have become more and more important for mobile robots. Using their data requires many transformations between different coordinate systems. This new approach deals with a mapping within the coordinate system of the scanner, therefore it is very fast. The log-Hough transformation performs line finding in scans in a very efficient way, which speeds up mapping.

关键词： Robot kinematics Mobile robots Navigation Data mining Iterative algorithms Equations Joining processes Change detection algorithms process control Intellectual property

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6 DOF path planning in dynamic environments-a parallel online approach

6 DOF path planning in dynamic environments-a parallel onlin...

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IEEE International Conference on robotics and Automation (ICRA)

作者： D. Henrich C. Wurll H. Worn Institute for Process Control and Robotics (IPR) Computer Science Department University of karlsruhe Karlsruhe Germany

Presents an approach to parallel path planning for industrial robot arms with six degrees of freedom in an online given 3D environment. The method is based a best-first search algorithm and needs no essential off-line computations. The algorithm works in an implicitly discrete configuration space. Collisions are detected in the Cartesian workspace by hierarchical distance computation based on polyhedral models of the robot and the obstacles. By decomposing the 6D configuration space into hypercubes and cyclically mapping them onto multiple processing units, a good load distribution can be achieved. We have implemented the parallel path planner on a workstation cluster with 9 PCs and tested the planner for several benchmark environments. With optimal discretisation, the new approach usually shows very good speedups. In online provided environments with static obstacles, the parallel planning times are only a few seconds.

关键词： Path planning Orbital robotics Defense industry Service robots Parallel robots Manipulators Hypercubes Workstations Personal communication networks Testing

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Online path planning with optimal C-space discretization

Online path planning with optimal C-space discretization

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Proceedings. 1998 IEEE/RSJ International Conference on Intelligent Robots and Systems. Innovations in Theory, Practice and Applications (Cat. No.98CH36190)

作者： D. Henrich C. Wurll H. Worn Institute for Process Control and Robotics (IPR) Computer Science Department University of Karlsruhe Karlsruhe Germany

The paper is based on a path planning approach for industrial robot arms with 6 degrees of freedom in an online given 3D environment. It has online capabilities by searching in an implicit and discrete configuration space and detecting collisions in the Cartesian workspace by distance computation based on the given CAD model. Here, we present different methods for specifying the C-space discretization. Besides the usual uniform and heuristic discretization, we investigate two versions of an optimal discretization for a user-predefined Cartesian resolution. The different methods are experimentally evaluated. Additionally, we provide a set of 3-dimensional benchmark problems for a fair comparison of the path planner. For each benchmark, the run-times of our planner are between only 3 and 100 seconds on a Pentium PC with 133 MHz.

关键词： Path planning Service robots Orbital robotics Robotic assembly process control Intellectual property Computer science Defense industry Manipulators Runtime

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A New Driving Concept for a Mobile Robot

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IFAC Proceedings Volumes 1998年第2期31卷 101-106页

作者： R. Graf M. Rieder R. Dillmann Institute for Process Control and Robotics (IPR) University of Karlsruhe Kaiserstrasse 12 76128 Karlsruhe GERMANY Fax: ++49 721 608 7141

There are several driving concepts for mobile robots. The most propagated ones are differential and synchro drives. Both of them have their specific advantages and disadvantages. The new concept described in this paper deals with a new drive which combines the advantages of both systems without keeping the disadvantages. The system offers a nearly omni-directional movability with less effort than other solutions.

关键词： Mobile robots drives

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A distributed planning and control system for industrial robots

A distributed planning and control system for industrial rob...

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International Workshop on Advanced Motion control (AMC)

作者： C. Wurll D. Henrich H. Worn J. Schloen M. Damm W. Meier Institute for Process Control and Robotics (IPR) University of Karlsruhe Karlsruhe Germany Fa. AMS Waghausel Germany

A practical distributed planning and control system for industrial robots is presented. The hierarchical concept consists of three independent levels. Each level is modularly implemented and supplies an application interface (API) to the next higher level. At the top level, we propose an automatic motion planner. The motion planner is based on a best-first search algorithm and needs no essential off-line computations. At the middle level, we propose a PC-based robot control architecture, which can easily be adapted to any industrial kinematics and application. Based on a client/server principle, the control unit establishes an open user interface for including application specific programs. At the bottom level, we propose a flexible and modular concept for the integration of the distributed motion control units based on the CAN bus. The concept allows an online adaptation of the control parameters according to the robot's configuration. This implies high accuracy for the path execution and improves the overall system performance.

关键词： Distributed control control systems Electrical equipment industry Industrial control Service robots Automatic control robotics and automation Motion planning Robot control Computer architecture

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