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Proceedings of 1993 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS '93)

作者： R. Gutsche C. Laloni F. Wahl Institute for Robotics and Computer Control Technical University of Braunschweig Brunswick Germany

After a short overview of a monitoring and navigation system for mobile vehicles (called MONAMOVE) consisting of multiple carriers of different size and an environment monitoring system, the navigation principle using one global navigator for gross motion planning and several local ones for fine motion planning is described. The coordination of multiple vehicles with their individual trajectories computed by the local navigators is managed by the global navigator using automatically computed crossings lying on a regular grid. This fine motion planning approach fulfills constraints like right orientation and continuous curvature along the paths; it bases on the computation of right oriented points which lie inside a driving channel (DC). These points are connected to the best right oriented line sequence without being a stupid following of the right border of the DC. Various extensions of this work are proposed.

关键词： Vehicle driving Navigation Vehicle dynamics Grid computing Path planning Production facilities Motion planning Mobile robots Remotely operated vehicles Monitoring

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The control Architecture of the Mobile System Priamos

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IFAC Proceedings Volumes 1993年第1期26卷 391-396页

作者： R. Dillmann J. Kreuziger F. Wallner University of Karlsruhe Department of Computer Science Institute for Real-Time Computer Control Systems & Robotics P.O. Box 6980. 7500 Karlsruhhe 1 Germany

In this paper the control architecture of the mobile robot system PRIAMOS is presented. It consists of four layers which integrate reactive and reflexive components in such a way that the robot can combine fast reaction to unexpected obstacles with predictive behaviour to known components in the environnement. A solution for the problem bow to combine control layers which process information on different levels of abstraction and of increasing complexity is discussed. The reflexive part of the control architecture and the modification concerning the motion controller of the mobile robot which was necessary to apply the idea of reflexive navigation is described in more details. The architecture presented allows to execute motion tasks in partially unknown or changing environment in an efficient manner. Especially the time critical reflexive level is computationally less expensive than previous approaches

关键词： Intelligent machines navigation hierarchically intelligent control architecture obstacle avoidance robots sensors

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Leg synchronization of a walking machine by means of backpropagation-networks

Leg synchronization of a walking machine by means of backpro...

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International Joint Conference on Neural Networks (IJCNN)

作者： K. Berns St. Piekenbrock H. Dillmann Group Interactive Planning Research Centre for Computer Science University of Karlsruhe Germany Institute for Real Time Process Control and Robotics University of Karlsruhe Germany

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... 详细信息

关键词： Leg Legged locomotion Network topology Mobile robots Robot kinematics Neural networks Propulsion Switches Foot computer science

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A new navigation concept for mobile vehicles

A new navigation concept for mobile vehicles

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IEEE International Conference on robotics and Automation (ICRA)

作者： R. Gutsche F.M. Wahl Institute for Robotics and Computer Control Technical University of Braunschweig Brunswick Germany

A hierarchical navigation system which delivers paths with continuous curvature for rectangularly-modeled vehicles is proposed. After a brief overview of the transport system consisting of omni wheel drive carriers, and on-carrier and off-carrier sensor components, the navigation module of this system is described. The multilevel navigation is based on a new polygonal partitioning of the Cartesian free-space, which allows a fast local modification of the partitions if obstacles are added or deleted. An A*-algorithm whose weight function is automatically adjusted by information on lower system levels delivers a coarse route through the environment (driving channel). Subsequently, a sequence of straight lines is generated, which are oriented along the right border of this channel. On the next level of path planning, curves are fitted into the corners of the line segment sequences to generate paths with continuous curvature. The generated, right-oriented paths are collision-free for rectangular modeled vehicles.< >

关键词： Navigation Path planning Wheels Sensor systems Joining processes Space vehicles Vehicle driving Mobile robots Robot sensing systems Robot control

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Online planning of action sequences for a two-arm manipulator system

Online planning of action sequences for a two-arm manipulato...

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IEEE International Conference on robotics and Automation (ICRA)

作者： A. Hormann U. Rembold R. Dillmann Institute for Real-Time Computer Control Systems and Robotics University of Karlsruhe Karlsruhe Germany

F/sub A/TE, an online task-level planning system for an advanced assembly robot consisting of two manipulators and a set of different sensors such as an overhead camera and force-torque sensors, is presented. The planning system takes an implicit description of the assembly task, plans a sequence of explicit robot commands and monitors the execution by the real-time robot control system. Because it runs completely online, the planning process is highly reactive using sensor information about the robot's present environment. This planning integrates as a key feature a dynamic mapping of assembly subtasks ready for execution onto the manipulators available at the moment. The system was implemented in Prolog on a SUN 4/75 SPARCstation running Unix.< >

关键词： Robotic assembly Sensor systems Robot sensing systems Manipulator dynamics Tellurium Robot vision systems Cameras Assembly systems Real time systems Robot control

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PLANNING OF SENSING TASKS IN AN ASSEMBLY ENVIRONMENT

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JOURNAL OF INTELLIGENT & ROBOTIC SYSTEMS 1991年第3期4卷 221-254页

作者： WERLING, G 1. Institute for Real-Time Computer Control Systems and Robotics University of Karlsruhe D-7500 Karlsruhe Germany

The purpose of this paper is to give an overview of past and recent work on planning sensing strategies for vision sensors. To achieve an economic use of robots in manufacturing, their programs must provide a high degree of fault-tolerance, security, and robustness to prevent unforeseen errors. Model errors (also termed uncertainties) are one of the most frequent reasons for such undesirable events. Robot systems can be made more reliable and fault-tolerant by providing them with capabilities of error detection and recovery, or error prevention. The latter may be achieved by reducing model errors using tactile and non-tactile sensors. The quality of a robot program synthesized by a task-level programming system depends on the accuracy of the model, since all information that is not explicitly given by the programmer must be derived from it. This means that the following questions have to be answered by the automatic task planner in order to plan non-tactile sensing strategies: (1) When do I have to use sensors to reduce uncertainty about the real world? (2) What do I have to use them for? (3) How do I have to use them to achieve the necessary information within an acceptable period of time? There are very few systems which deal broadly with the problem of robust robot programs, whereas there are numerous works on detail aspects of the field. The main approaches will be introduced and discussed in more detail. Finally, a new concept for generating sensor-integrated robust robot programs will be proposed.

关键词： VERIFICATION TASK-LEVEL PROGRAMMING ROBOT VISION UNCERTAINTY ASSEMBLY PLANNING FAULT TOLERANCE CLASSIFICATION PREDICTION CAMERA LOCATION

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AN ACTION-BASED PROCESS MODEL FOR DEXTEROUS MULTIFINGER HANDS

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JOURNAL OF INTELLIGENT & ROBOTIC SYSTEMS 1991年第3期4卷 201-219页

作者： WOHLKE, G BRAUN, T 1. Institute for Real-Time Computer Control Systems and Robotics Faculty for Informatics University of Karlsruhe 7500 Karlsruhe Germany

In this article, the development of an action-based process model is described which was especially tailored to the needs of modelling and simulating multifinger hands. The research has been concerned with a description technique using constraints for modelling the working environment and with the design of an appropriate process model for simulating complex movements of manipulation objects with multifinger hands. The paper presents the results of an object-oriented approach to the proposed model and consists of two parts: a constraint net that describes the connections and relations between cell components (robots, grippers, objects) in the working environment and a propagation algorithm that computes the new locations regarding the modifications and logical dependencies.

关键词： SYSTEM SIMULATION PROCESS MODEL CONSTRAINT NET PROPAGATION ALGORITHM OBJECT-ORIENTED PROGRAMMING

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Manipulator classification by means of a kinematics description language

Manipulator classification by means of a kinematics descript...

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International Conference on Advanced robotics (ICAR)

作者： H. Schrake H. Rieseler F. Wahl Institute of Robotics and Computer Control Technical University of Braunschweig Brunswick Germany

This paper presents a universal test data generator for the systematic evaluation of inverse kinematics systems. A Denavit-Hartenberg parameter based kinematics description language LDL has been developed; it is used as input language for the generator. LDL allows the expression of kinematic and geometric constraints, which have to be satisfied by the resulting generated kinematics. Moreover, it is possible to generate certain well-known classes of manipulators. Combining the basic features and different kinds of constraints, a LDL program can be used to define and to generate classes of manipulators.< >

关键词： Kinematics Closed-form solution Manipulators System testing Robot control Telephony Iterative algorithms Computational geometry Computational complexity Application software

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Path generation with a universal 3d sensor

Path generation with a universal 3d sensor

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IEEE International Conference on robotics and Automation (ICRA)

作者： R. Gutsche T. Stahs F.M. Wahl Institute for Robotics and Computer Control Technical University of Braunschweig Brunswick Germany

The integration of a three-dimensional sensor into a robot workcell is described. The sensor is based on the well-known coded light approach (CLA). The CCD camera of the CLA is mounted at the robot's hand and one or more projectors are fixed outside the robot's work space. The principle of the CLA and the calibration of th robot-sensor-system are explained. An application in which the tool of the robot follows an unknown path on an arbitrary surface is presented. For evaluation reasons the deviation from the surface coordinates are simultaneously measured by a gage, allowing a quantitative error analysis.< >

关键词： Robot kinematics Orbital robotics Robot sensing systems Sensor phenomena and characterization Charge coupled devices Robot vision systems Charge-coupled image sensors Cameras Calibration Coordinate measuring machines

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Dealing with unexpected situations during the execution of robot motions

Dealing with unexpected situations during the execution of r...

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IEEE International Conference on robotics and Automation (ICRA)

作者： M. Spreng Institute for Real-Time Computer Control Systems and Robotics University of Karlsruhe Karlsruhe Germany

The problem of a polygonal object moving in an uncertain polygonal environment, i.e. the positions and orientations of the objects relative to each other are not exactly known, is addressed. Furthermore, the moving object does not move exactly as it is commanded to move. Due to these uncertainties, even a motion generated by a correct motion planner may fail, i.e. for instance, an unexpected contact may occur. A situation analyzer that enables the moving object to acquire information on a contact situation is presented. This analyzer uses the nominal world model including information on the magnitude of the uncertainties in order to get hypotheses on the geometric entities involved in the contact. The discrimination among the hypotheses is based on test motions, i.e. motions whose feasibility depends on the validity of a certain subset of the hypotheses.< >

关键词： Uncertainty Testing Information analysis Robotic assembly Real time systems Motion control Robot control control systems Solid modeling Environmental economics

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