This paper gives some insight into the frictional behaviour of geared robot links. It will be shown, that in addition to well-known models, the temperature of the actuator has to be taken into account as parameter. An...
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This paper gives some insight into the frictional behaviour of geared robot links. It will be shown, that in addition to well-known models, the temperature of the actuator has to be taken into account as parameter. An elaborate analysis procedure has been used to measure the friction over velocity and temperature. The behaviour has been approximated by a friction model based on orthogonal polynomials. The model parameters are determined by a standard least squares method. With a detailed knowledge about the frictional be-haviour, a precompensation can be applied; thus, a linear increase of velocity, i.e. constant accel-eration, can be achieved by applying a constant desired torque value to an open loop control. Friction precompensation releases the controller from the compensation of the disturbances of nonlinear frictional effects and contributes to a more accu-rate robot control.
In this paper various approaches to synchronize leg movement of a walking machine are reported. Backpropagation-networks with diverse topologies, different types of encodings of information and of training methods are...
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In this paper various approaches to synchronize leg movement of a walking machine are reported. Backpropagation-networks with diverse topologies, different types of encodings of information and of training methods are investigated.
The paper presents a new concept for the flexible integration of a range sensor into a robot work cell. The sensor itself is based on the Coded Light Approach, which is wellknown as a fast and robust active triangulat...
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Presents a new approach to object recognition and pose estimation based on a 3D robot sensor, which produces range images of a scene along problem specific lines of sight. Recognition is realized as a hypothesis gener...
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Presents a new approach to object recognition and pose estimation based on a 3D robot sensor, which produces range images of a scene along problem specific lines of sight. Recognition is realized as a hypothesis generation/hypothesis verification process. Hypothesis generation is based on a minimal number of predominant and connected object parts in one or more range images determining all 6 degrees of freedom of an objects pose. This set of object parts is transformed into a hypotheses set by simple look-up operations in precalculated hash tables. In the subsequent verification step the authors determine an inspection list for the best recognizable, most distinctive and best visible object parts in this hypotheses set and verify the hypotheses by searching these object parts in existing or new range images.< >
A simulation system is presented, which supports the programming of a robot based manufacturing process. A CAD system is used for the geometric modeling. The system allows modeling of different object classes like rob...
A simulation system is presented, which supports the programming of a robot based manufacturing process. A CAD system is used for the geometric modeling. The system allows modeling of different object classes like robots, endeffectors, sensors, workpieces 88 well 88 the robot's environment. The control functions of different control hierarchies of the manufacturing system can be emulated. The results of the emulation of the virtual robot can be displayed graphically. Analysis and evaluation methods are applied to detect errors and conflicts which may occur in the simulated manufacturing process. The simulation system allows optimization of the manufacturing processes
Distributed autonomous robotic systems (DARS) are systems composed of multiple autonomous units such as modules, cells, processors, agents, and robots. Combination or cooperative operation of multiple autonomous units...
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ISBN:
(数字)9783642721984
ISBN:
(纸本)9783642722004
Distributed autonomous robotic systems (DARS) are systems composed of multiple autonomous units such as modules, cells, processors, agents, and robots. Combination or cooperative operation of multiple autonomous units is expected to lead to desirable features such as flexibility, fault tolerance, and efficiency. The DARS is the leading established conference on distributed autonomous systems. All papers have the common goal to contribute solutions to the very demanding task of designing distributed systems to realize robust and intelligent robotic systems.
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