Deals with the problem of uncertainties in the nominal world model of a robot. In particular, the problem of analyzing unexpected situations in a 2D polygonal world is attacked. Such a situation analysis can be used t...
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Deals with the problem of uncertainties in the nominal world model of a robot. In particular, the problem of analyzing unexpected situations in a 2D polygonal world is attacked. Such a situation analysis can be used to acquire information on a contact situation encountered during the execution of a motion. The analysis is based on the concept of so-called test motions, i.e. motions, the feasibility of which depends on the actual contact situation present. Using a probabilistic uncertainty model, the focus is on the computation of motion constraints due to contact and the resulting selection of an optimal test motion.< >
As an example of an autonomous assembly robot, the mobile two-arm robot system KAMRO, is described. The system is capable of navigating within an assembly cell, of docking at a work table, and of executing an assembly...
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As an example of an autonomous assembly robot, the mobile two-arm robot system KAMRO, is described. The system is capable of navigating within an assembly cell, of docking at a work table, and of executing an assembly according to a given plan. A series of successful experiments has demonstrated the completely autonomous operation of the system.< >
In this paper the development of a programming and simulation environment is described, which was especially tailored for programming of multifinger hands. The research has concerned with the programming of the Karlsr...
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An approach to intelligent PID (proportional integral derivative) control of industrial systems which is based on the application of fuzzy logic is presented. This approach assumes that one has available nominal contr...
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An approach to intelligent PID (proportional integral derivative) control of industrial systems which is based on the application of fuzzy logic is presented. This approach assumes that one has available nominal controller parameter settings through some classical tuning technique (Ziegler-Nichols, Kalman, etc.). By using an appropriate fuzzy matrix (similar to Macvicar-Whelan matrix), it is possible to determine small changes on these values during the system operation, and these lead to improved performance of the transient and steady behavior of the closed-loop system. This is achieved at the expense of some small extra computational effort, which can be very easily undertaken by a microprocessor. Several experimental results illustrate the improvements achieved.< >
A three fingered, multijointed robot gripper for experimental use is presented. The mechanics as well as the control architecture are designed for this special purpose. The gripper system provides the basic means in t...
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This paper presents ROSI-Layout, a computer aided planning system for the generation of suitable workcell layouts for robot assembly applications. The idea is to derive first the spatial transformations for the produc...
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This paper presents ROSI-Layout, a computer aided planning system for the generation of suitable workcell layouts for robot assembly applications. The idea is to derive first the spatial transformations for the product parts, which lead to the assembly of the final product. A global database provides the product data and the precedence graph. This information comes from product design and assembly planning. The design of spatial transformations is derived from constraints given by the geometric shape of the product parts and from rules that define how assembly with robots should be accomplished. This is followed by the generation of a suitable layout. A layout can be developed that is specially designed for the product to be assembled. During the entire planning session, the database manages all planning data and ensures consisteny. ROSI-Layout is an extension of the RObot Simulation system ROSI.
It is known that the solution of the inverse kinematics problem for robot arms is mathematically very elaborate. A technique is proposed for automatically generating the closed-form inverse kinematics solution for mos...
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It is known that the solution of the inverse kinematics problem for robot arms is mathematically very elaborate. A technique is proposed for automatically generating the closed-form inverse kinematics solution for most industrial robots very efficiently. This is achieved by a careful structural analysis of equations resulting from systems like A/sub i-1//sup -1/ A/sub i-2//sup -1/. . . A/sub 1//sup -1R/T/sub H/=A/sub i/A/sub i+1/. . . A/sub n/ with (i=1, . . ., n), where A/sub i/ and /sup R/T/sub H/ denote the homogeneous transformation matrices between the adjacent robot links and the homogeneous robot hand-base transformation, respectively. Features derived from these equations are described, and it is shown how they can be used advantageously to solve the inverse kinematics problem symbolically. The system is implemented in Prolog and needs a few seconds on a PC for a complete inversion.< >
A three fingered, multijointed robot gripper for experimental use is presented. The mechanics as well as the control architecture is designed for this special purpose. The gripper system provides the basic means in te...
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A three fingered, multijointed robot gripper for experimental use is presented. The mechanics as well as the control architecture is designed for this special purpose. The gripper system provides the basic means in terms of position and force control to perform experiments about grasping and object motion in a useful way. The gripper can be used to develop and evaluate different approaches of stable grasping and object manipulation. Results of the control of the gripper on joint level, the Cartesian behaviour of the fingers and some experiences with the grasping and manipulation experiments using the presented system are reported.< >
The paper is concerned with the problems of rough sets theory and rough classification of objects. It is a new approach to problems from the field of decision-making, data analysis, knowledge representation, expert sy...
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The paper is concerned with the problems of rough sets theory and rough classification of objects. It is a new approach to problems from the field of decision-making, data analysis, knowledge representation, expert systems etc. Several applications (particularly in medical diagnosis and engineering control) confirm the usefulness of the rough sets idea. Rough classification concerns objects described by multiple attributes in a so-called information system. Traditionally, the information system is assumed to be complete, i.e. the descriptors are not missing and are supposed to be precise. In this paper we investigate the case of incomplete information systems, and present a generalization of the rough sets approach which deals with missing and imprecise descriptors.
A concept for the intelligent control of subsystems of a flexible assembly cell is presented. Unknown or uncertain data about the real world may lead towards failure during an assembly task. Therefore, a fault toleran...
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