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IEEE International Conference on robotics and Automation (ICRA)

作者： P. Bohner R. Luppen Institute for Real-Time Computer Systems & Robotics University of Karlsruhe Karlsruhe Germany

In this paper we present a reactive planning and control system for redundant manipulators based on multi-agents. It enables the reactive motion of manipulators in unknown environments by integrating sensor data. All agent is responsible for calculating and controlling the motion of one joint, therefore it is called "joint agent". The agents, their communication and coordination are presented in this paper. Results are demonstrated for a 7-dOF redundant manipulator covered with tactile sensors.

关键词： Manipulators Robot sensing systems Robot kinematics Path planning real time systems Motion planning Communication system control Control systems Tactile sensors Service robots

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Parallel processing approaches in robotics

Parallel processing approaches in robotics

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IEEE International Symposium on Industrial Electronics (ISIE)

作者： d. Henrich T. Honiger Institute for Real Time Computer Systems and Robotics University of Karlsruhe Karlsruhe Germany

This paper presents the different possibilities for parallel processing in robot control architectures. Initially, the authors briefly review the historic development of control architectures. Then, a list of requirements for control architectures is set up from a parallel processing point of view. As their main topic, they identify the levels of parallel processing in robot control architectures. With each level of parallelism, examples for a typical robot control architecture are presented. Finally, a list of keywords is provided for each previous work the authors refer to.

关键词： Parallel processing Parallel robots Concurrent computing Robot control Automatic control computer architecture Control systems Costs distributed control Very large scale integration

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Aspects of controlling a multifingered gripper

Aspects of controlling a multifingered gripper

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International Conference on Knowledge-Based Intelligent Electronic systems (KES)

作者： T. doersam T. Fischer Department of Computer Science Institute for Real-Time Computer Systems and Robotics University of Karlsruhe Karlsruhe Germany

Controlling multifingered robot hands makes high demands on the control algorithms and the speed of the control computer. The nonlinear friction, the impact problem and other plant uncertainties require a special kind of control and tuning of the controller. Some simple linear and nonlinear controllers for the karlsruhe dexterous Hand are presented and the results and advantages of the controllers are shown. Also, a new adaptive fuzzy controller is presented to overcome the time consuming process of fine-tuning the membership functions. Finally, a short glance at the hardware platform is taken in order to show the control system architecture.

关键词： Grippers Friction Control systems Force control Fuzzy control Force measurement computer science real time systems Robot control Programmable control

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distributed control architecture for intelligent systems

Distributed control architecture for intelligent systems

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Midwest Symposium on Circuits and systems (MWSCAS)

作者： T. Laengle T.C. Lueth U. Rembold H. Woern Institute for Real-Time Computer Systems and Robotics Faculty for Computer Science University of Karlsruhe Karlsruhe Germany

In contrast to a hierarchical and centralized structure, distributed or decentralized control architectures reveal their main advantages when it is necessary to enhance the system, to integrate components, and to maintain the system. The main disadvantage of not centralized architectures is having to make sure that the system will fulfill an overall or global goal. To investigate these problems, a distributed control architecture for intelligent systems was developed at the university of karlsruhe. In this paper, the methods for dead-lock-free coordination and cooperation are explained.

关键词： distributed control Intelligent systems Intelligent control Robot kinematics computer architecture Intelligent robots real time systems computer science Intelligent manufacturing systems Resource management

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3d-icon based user interaction for robot programming by demonstration

3D-icon based user interaction for robot programming by demo...

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IEEE International Symposium on Computational Intelligence in robotics and Automation (CIRA)

作者： H. Friedrich H. Hofmann R. dillmann Inst. for Real-Time Comput. Syst. & Robotics Karlsruhe Univ. Germany Institute for Real-Time Computer Systems & Robotics IPR University of Karlsruhe Karlsruhe Germany

Within the last years the programming by demonstration (Pbd) programming methodology gained more and more attention in robotics. However, a high quality way of human-robot interaction is crucial for a successful application of the Pbd methodology in robotics. Hypotheses derived from the programming system, and control knowledge included in a generated robot program has to be checked back with and to be verified by the user in order to avoid potentially harmful errors that lead to faulty code. This paper describes a method for user-robot interaction that is based on 3d-icons and supports and facilitates the programming process in a robot programming by demonstration system significantly.

关键词： Robot programming Service robots Robot sensing systems Control systems Sensor systems Humans Robustness real time systems Intellectual property Electronic mail

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dynamic simulation of the jaw and chewing muscles for maxillofacial surgery

Dynamic simulation of the jaw and chewing muscles for maxill...

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IEEE Nonrigid and Articulated Motion Workshop

作者： T. Weingartner S. Hassfeld R. dillmann Institute for Real-Time Computer Systems & Robotics Department for Computer Science University of Karlsruhe Karlsruhe Germany Medical Department Clinic for Oral and Maxillofacial Surgery University of Heidelberg Heidelberg Germany Department of Computer Science Institute for Real-Time Computer Systems& Robotics University of Karlsruhe Karlsruhe Germany

The need for simulation in medical environments increases with the complexity and risks of operations. Exact geometric planning is one of the main problems a surgeon has to deal with. The goal of the authors' research is the development of a graphical simulation of the human mastication system. Therefore, they are developing an integrated model of the jaw by parameterizing the bones (maxilla and mandible) and modeling the motion capabilities as well as the mastication muscles. The main focus of the paper is the introduction of a kinematic model of the temporomandibular joint and modeling of the mastication muscles. The kinematic model describes the geometrical and analytical movement of the jaw by specially defined axes. By modifying the axes or the geometrical model of the mandible, a surgeon can get a first impression of the post-operative result of, for example, a repositioning. Through integration of the muscles and muscle forces, one can even obtain a dynamic simulation of the whole mastication system.

关键词： Muscles Surgery Surges Computational modeling Medical simulation Kinematics Joints Tomography Pain real time systems

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Microrobot-Based Microassembly Station and Its Control Using a Graphical User Interface

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IFAC Proceedings Volumes 1997年第20期30卷 781-786页

作者： J. Seyfried S. Fatikow University of Karlsruhe Institute for Real-Time Computer Systems and Robotics (IPR) Kaiserstr. 12 (Geb. 40.28) D-76128 Karlsruhe F. R. of Germany Phone: +49-721-608-3656 Fax: +49-721-606740

In the fields of biology, microelectronics and microsystem technology many operations are today performed by hand which might also be done by micromanipulation robots. Several prototypes of such robots have already been built and tested, but in the field of control systems and user interfaces of such micromanipulation systems, there is still much work to be done. different applications demand different levels of control and planning: easyier, single tasks may be performed by teleoperation, while others require a programmed motion sequence or even task planning to accomplish a complex assembly task a with minimum of human interaction. This paper presents a micromanipluation system consisting of a microassembly robot working under a light-optical microscope, a CCd camera and an XY-stage. Then, the software infrastructure for the microrobot control system is presented and the underlying hardware system is described. It also shows a user interface based on this structures, a semi-automated teleoperation system. The user interface presented here uses the live image of the CCd camera to perform either open or closed loop control of the robot's position. All parameters of the microscope and XY-stage can be controlled with dialog windows. The software infrastructure allows also the development of task planning algorithms by providing an intermediate layer to control the robot

关键词： Robots microsystems assembly teleoperation user interfaces

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Assembly sequence planning for manufacturing by microrobots

Assembly sequence planning for manufacturing by microrobots

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IEEE International Symposium on Assembly and Manufacturing (ISAM)

作者： S. Fatikow R. Mounassypov Institute for Real-Time Computer Systems and Robotics University of Karlsruhe Karlsruhe Germany Department of Technical Cybernetics Ufa State Aviation Technical University Bashkortostan Russia

The authors present a microassembly system model based on geometric reasoning. Its components, which include an X-Y positioning table with a glass plate fixed on top of it, operating microrobots on the plate, and a CCd-camera, are discussed in detail. Feasibility criteria for the generation of possible assembly sequences and optimisation criteria for selecting the best assembly plan, which reflect the specific features of microassembly, are suggested. For both planning steps, algorithms for an automatic procedure have been developed and implemented. An important advantage of te suggested bottom-up search procedure is that the assembly plan is determined at each step of the algorithm, so that the searching of all feasible sequences and the selection of the best one are integrated into one automated planning procedure. This allows one to replan the assembly process during plan execution, starting from the current process state and without exploring the space of all possible assembly plans. For a multirobot system, a method for decomposition of an assembly plan and its implementation is suggested.

关键词： Manufacturing Robotic assembly Microassembly Service robots robotics and automation Microscopy Glass Sensor systems Robot sensing systems Intelligent robots

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Flexible piezoelectric micromanipulation robots for a microassembly desktop station

Flexible piezoelectric micromanipulation robots for a microa...

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International Conference on Advanced robotics (ICAR)

作者： S. Fatikow J. Zollner K. Santa R. Zollner A. Haag Institute for Real-Time Computer Systems and Robotics University of Karlsruhe Karlsruhe Germany Karlsruher Institut fur Technologie - Campus Nord Eggenstein-Leopoldshafen Baden-WÃ¼rttemberg DE

The design of a microassembly desktop station is a major challenge for microsystem technology. This paper presents several piezoelectric micromanipulation robots, which have been developed to be used in a microassembly station. These robots are of different design and use different actuation principles so that each robot serves for a specific task. They are capable of travelling over long distances and of manipulating in the range of a few nanometers. Several robots of this kind can be accommodated in a microassembly station and can cooperate and perform microassembly tasks as a team. They can also be used for other operations such as online testing of microelectronic chips or manipulating biological cells.

关键词： Microassembly Voltage real time systems Logic testing Microelectronics Piezoelectric actuators Robot control Multirobot systems Robustness Production

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The HIMAC Project: Hierarchical Management and Control in Manufacturing systems

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IFAC Proceedings Volumes 1997年第1期30卷 309-314页

作者： E. Canuto M. Christodoulou c. Chu F. donati V. Gaganis B. janusz J.M. Proth W. Reithofer M. Vallauri Dipartimento di Automatica e Informatica. Politecnico di Torino. Corso Duca degli Abruzzi 24 1-10129 Torino. Italy Dept. of Electrical & Computer Engineering. Laboratory of Automation Technical University of Crete. GR-73100 Chania (Crete). Greece INRIA Lorraine Technopôle Metz 2000. Rue Marconi 4. F-57070 Metz. France Institute for Real-time Computer Systems and Robotics. University of Karlsruhe Kaiserstrasse 12 D-76128 Karlsruhe. Germany

The paper presents the major features of the ESPRIT Basic Research HIMAC, proposed to the EC after a thorough investigation of the state of the art of manufacturing systems control. HIMAC has followed a new approach, by developing a specific mathematIcs, the Manufactunng Algebra (MA), for modelling and controlling the production processes of discrete manufacturing systems. As a key feature, the MA models can be bottom-up aggregated starting from the very detailed levels used in simulation, thus making poSSIble a coherent model hierarchy at the base of the design and realization of Hierarchical control strategies and architectures. The formulation of the original mathematical approach and its validation criteria are outlined in the paper. For a deeper understanding, the mterested reader can take advantage of the list of references given at the end.

关键词： Manufacturing systems Production control Hierarchical control

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