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检索条件"机构=Institute of Process Control and Robotics"

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Mephisto a modular and extensible path planning system using observation 1st

引用

1st International Conference on Computer Vision Systems, ICVS 1999

作者： Steinhaus, Peter Ehrenmann, Markus Dillmann, RÜDiger Institute of Process Control and Robotics University of Karlsruhe Geb. 40.28 Kaiserstr. 12 Karlsruhe76128 Germany

ISBN: (纸本)3540654593

In this paper a scalable architecture with a computer vision subsystem as an integrated part to achieve a fast and robust navigation for almost autonomous mobile systems in dynamic environments is presented. The principal approach is not only using the robots' mobile sensor systems but also some fixed external vision sensors to build the required environment models. The measurements of the mobile and external sensors are fused to improve the quality of the input data. This sensor fusion is done by an active dynamic environment model that also provides an optimised data layer for different path planning systems. To achieve the required system's scalability a distributed approach is followed. Instead of using one big global environment model a distributed redundant environment model is employed to allow easier local path planning and to reduce bottlenecks in data transmission. Thus the path planning system is split to a local path planner and a global planning system. © Springer-Verlag Berlin Heidelberg 1999.

关键词： Motion planning

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Creating the next generation ingress/egress robot

Creating the next generation ingress/egress robot

引用

International Congress and Exposition

作者： Stewart, Robert O'Bannon, Terry Müller, Markus Beeh, Frank Schnoor, Bernd Lentz, John Lear Corporation Institute for Process Control and Robotics University of Karlsruhe Germany KUKA Roboter GmbH Germany KUKA Robot Systems Corporation Germany

In order to more accurately simulate the load distributions and histories experienced by automotive seats in field use, more biofidelic motion and loading devices are needed. Lear and KUKA have developed a system capable of controlling the coordinated motions of a pelvis, thighs and torso dummy in order to mimic human motions. The system takes kinematic data collected from human trials and converts them directly to a robot program. Additionally, simultaneous measures of human loading using pressure distribution mats can be obtained, and these measures are used as the basis for teaching the robot to correct the kinematic data using a neural net learning algorithm. The robot has direct and indirect load feedback integration that allows the load to be precisely maintained throughout the duration of a cycle test. © Copyright© 1999 Society of Automotive Engineers, Inc.

关键词： Robots

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A flexible microrobot-based microassembly station

A flexible microrobot-based microassembly station

引用

International Conference on Emerging Technologies and Factory Automation (ETFA)

作者： S. Fatikow J. Seyfried S. Fahlbusch A. Buerkle F. Schmoeckel Institute of Process Control and Robotics University of Karlsruhe Karlsruhe Germany

The assembly of complex microsystems consisting of several single components (i.e. hybrid microsystems) is a difficult task that is seen to be a real challenge for the robotic research community. It is necessary to conceive flexible, highly precise and fast microassembly facilities. In this paper the development of a microrobot-based microassembly station is presented. Mobile piezoelectric microrobots with dimensions of some cm/sup 3/ and with 5 DOF perform various manipulations either under a light microscope or within the vacuum chamber of a scanning electron microscope. The components of the station and its control system are described. The latter comprises a vision-based sensor system for automatic robot control, user interfaces, a re-configurable parallel computer array and an assembly planning system. Specific problems that occur when using microrobots in an SEM and our research activities on the development of force microsensors integrated into the microrobots' grippers are described as well.

关键词： Microassembly Robotic assembly Scanning electron microscopy Sensor arrays Electron mobility Automatic control control systems Sensor systems Robot control User interfaces

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Acceleration compensation using a Stewart platform on a mobile robot

Acceleration compensation using a Stewart platform on a mobi...

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Euromicro Workshop on Advanced Mobile Robot

作者： R. Graf R. Dillmann Institute for Process Control and Robotics University of Karlsruhe Karlsruhe Germany

Transporting an object on a mobile platform always transfers accelerations to this object. In many cases this is undesirable, so a compensation would be helpful. There are passive systems, but they can only react and have no other use like manipulating. This paper presents a solution for both compensation of accelerations and precise and powerful manipulation. In order to achieve a compensation a Stewart platform is mounted on top of a mobile robot. Usually a Stewart platform is used to generate accelerations. In this application the acceleration vector of the robot is inverted and sent to the filter, which performs the platform motion depending on the robot movement. This filter handles all six degrees of freedom, so every movement can be taken into account, if it is determined by acceleration or inclination sensors. Furthermore, this combination is also a very precise docking system, since the Stewart platform can easily correct the uncertainty in the robot position.

关键词： Acceleration Mobile robots Payloads Robot sensing systems Filters Medical robotics Vehicles process control Intellectual property Uncertainty

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Flexible microrobotic system MINIMAN: design, actuation principle and control

Flexible microrobotic system MINIMAN: design, actuation prin...

引用

IEEE/ASME (AIM) International Conference on Advanced Intelligent Mechatronics

作者： S. Fahlbusch S. Fatikow J. Seyfried A. Buerkle Institute for Process Control and Robotics Universität Karlsruhe Karlsruhe Germany

Microsystem technology demands for advanced manipulation facilities which can assemble complex microsystems consisting of many single components (i.e. hybrid microsystems). To perform fully automated microassembly, problems specific to the handling of micro parts have to be considered. It is necessary to introduce flexible, highly precise and fast microassembly methods. Therefore, different microrobots, which offer the possibility to carry out an assembly process under a light optical microscope with a motion resolution of up to 20 nm and speeds of up to 3 cm/s, have been developed by an interdisciplinary research group at the University of Karlsruhe. These robots are embedded into a microassembly desktop station. The paper presents the design, actuation principle and control of the flexible microrobotic system MINIMAN.

关键词： control systems Robotic assembly robotics and automation Robot sensing systems Automatic control Assembly systems Microassembly Sensor systems Microscopy Leg

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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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A multisensor system for observation of user actions in programming by demonstration

A multisensor system for observation of user actions in prog...

引用

International Conference on Multisensor Fusion and Integration for Intelligent Systems (MFI)

作者： M. Ehrenmann P. Steinhaus R. Dillmann Institute of Process Control & Robotics Universität Karlsruhe Karlsruhe Germany

Good observation of a manipulation presentation performed by a human teacher is crucial to further processing steps in programming by demonstration in interactive robot programming. This paper outlines a concept of how this can be done using visual and finger measuring sensors. The input sources include: a data glove which classifies several gestures and grasps, an active stereo vision, and a fixed ceiling camera. The hardware used is presented together with the technical concepts of processing and the acquired sensor information fusion, so called elementary cognitive operators. All the sensor sources use time-efficient algorithms, since sensor data must be processed in real-time.

关键词： Multisensor systems Robot programming Humans Fingers Data gloves Stereo vision Robot vision systems Cameras Hardware Sensor fusion

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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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ARMAR-an anthropomorphic arm for humanoid service robot

ARMAR-an anthropomorphic arm for humanoid service robot

引用

IEEE International Conference on robotics and Automation (ICRA)

作者： K. Berns T. Asfour R. Dillmann Forschungszentrum Informatik Karlsruhe Karlsruhe Germany Institute for Process Control and Robotics Karlsruhe Germany

Service robots which should perform human-like operations will penetrate into a great number of applications in the future. Requirements for this is high flexibility, autonomy and the ability to adapt to new situations. The paper describes a design concept and a prototype implementation of an autonomous mobile humanoid service robot, which should mainly support people in their daily life as a personal or an assistance robot. The state of the research is that the general concept is developed and two anthropomorphic arms are built up. In the article the sensor system and the control architecture of the anthropomorphic robot are described. To evaluate the performance and motion abilities of the anthropomorphic arm the human arm kinematics and properties are discussed.

关键词： Anthropomorphism Service robots Robot sensing systems Prototypes Mobile robots Humanoid robots Arm Sensor systems control systems Humans

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Sensor-based controlling of the objects pose for multifinger grippers

Sensor-based controlling of the objects pose for multifinger...

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IEEE International Symposium on Intelligent control (ISIC)

作者： T. Fischer D. Rapela H. Woern Department of Computer Science Institute for Process Control and Robotics University of Karlsruhe Karlsruhe Germany

In the field of research and development of grippers in object-handling applications, many research results in improving grippers performances have been achieved, and many kinds of multifinger grippers have been developed. By using multifinger grippers, it is possible to grasp different objects of different shapes without changing grippers; and most importantly, it can manipulate the grasped object in the hand, under the condition that the object is controlled in real-time. Therefore, an object-pose controller with feedback from an object-pose sensor is presented in this paper.

关键词： Grippers Fingers Force control Sliding mode control Open loop systems control systems Robot sensing systems Shape control Feedback Orbital robotics

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