检索结果-内蒙古大学图书馆

IEEE International Conference on robotics and Automation (ICRA)

作者： U.M. Nassal R. Junge Institute for Real-Time Computer Systems and Robotics (IPR) University of Karlsruhe Karlsruhe Germany

Increasing the flexibility of robot systems has been one of the main objectives of robotics research in recent years. There are various approaches to achieve this: increasing fault-tolerance, the development of new actuators and sensors and the use of learning techniques. But the field of operation of such smart systems is still limited to a rather small area. Mobile manipulation is another facet of increasing the flexibility of a robot system. By exploiting the mobility of a platform, the dextrous workspace of manipulators can be considerably increased. One main research topic on mobile manipulation is the decomposition of the motion of the tool-centre-point into manipulator motion and platform motion. In this paper a new online approach to this decomposition is presented which allows the consideration of complex obstacles and multiple manipulators mounted on the platform. A focus of this paper is the presentation of a fuzzy-controller that enables the robot to perform manipulation and locomotion in an integrated manner.

关键词： Fuzzy control Manipulators Control systems Mobile robots Robotic assembly Kinematics Gravity Motion planning Path planning Force control

来源：评论

学校读者我要写书评

暂无评论

Compensation of friction in mechanical drives for a three fingered robot gripper

Compensation of friction in mechanical drives for a three fi...

引用

Proceedings of IEEE/RSJ International Conference on Intelligent Robots and systems. IROS '96

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

Performing fine manipulations with multifingered robot hands makes high demands on the control algorithms and the speed of the control computer. Mainly nonlinear friction problems and plant uncertainties require intensive fine-tuning of a controller. This paper gives insight into the frictional behaviour of geared finger links. The behaviour has been approximated by a friction model. Considering the estimated system parameters two kinds of controllers are developed: a simple Pd controller with switchable I-part and a Pd-controller with a fuzzy friction compensation working in parallel. The results of both controllers are presented and compared in this paper.

关键词： Friction Control systems Robots High performance computing Uncertainty Fingers Parameter estimation Pd control Fuzzy control Fuzzy systems

来源：评论

学校读者我要写书评

暂无评论

An automated microrobot-based desktop station for micro assembly and handling of micro-objects

An automated microrobot-based desktop station for micro asse...

引用

International Conference on Emerging Technologies and Factory Automation (ETFA)

作者： S. Fatikow U. Rembold Institute for Real-Time Computer Systems and Robotics Faculty for Informatics University of Karlsruhe Karlsruhe Germany

One of the main problems of present-day microsystem technology (MST) is the assembly of a whole microsystem from different micro-components. This paper presents an automated micromanipulation desktop station the main feature of which are piezoelectrically driven microrobots placed on a highly precise x-y table of a microscope. The microrobots can perform high-precise manipulations (with an accuracy of up to 10 nm) and the transport of very small objects (at a speed of several mm/sec). To control the desktop station automatically, a sensor system is provided for fine and for gross positioning of the robots, respectively. Apart from assembly tasks this automated station can be used, for examples, for handling biological cells or testing silicon chips.

关键词： Microscopy Automatic control Control systems Sensor systems Robot sensing systems robotics and automation Robotic assembly Biological cells Automatic testing Silicon

来源：评论

学校读者我要写书评

暂无评论

Learning coordination skills in multi-agent systems

Learning coordination skills in multi-agent systems

引用

Proceedings of IEEE/RSJ International Conference on Intelligent Robots and systems. IROS '96

作者： M. Kaiser R. dillmann H. Friedrich I. Lin F. Wallner P. Weckesser Institute for Real-Time Computer Systems and Robotics University of Karlsruhe Karlsruhe Germany Karlsruher Institut fur Technologie - Campus Nord Eggenstein-Leopoldshafen Baden-WÃ¼rttemberg DE

While distributed control architectures have many advantages over centralized ones, such as their inherent modularity and fault tolerance, a major problem of such architectures is to ensure the goal-oriented behaviour of the controlled system. This paper presents a framework within which the coordination skills required for goal-orientedness are learned from user demonstrations. The framework is based on a state-space model of the single agents building the system and a corresponding model of the coordination mechanism. Our mobile robot PRIAMOS provides an application example.

关键词： Multiagent systems real time systems Robot kinematics

来源：评论

学校读者我要写书评

暂无评论

Stereo grouping for model-based recognition

Stereo grouping for model-based recognition

引用

International Conference on Pattern Recognition

作者： A. Ude T.E. Ekre Institute for Real-Time Computer Systems and Robotics University of Karlsruhe Karlsruhe Germany Karlsruher Institut fur Technologie - Campus Nord Eggenstein-Leopoldshafen Baden-WÃ¼rttemberg DE

A strategy for the fusion of information from a stereo image pair for model-based object recognition is discussed. Our scheme combines a new method for feature grouping with a region-based stereo matching and a hypothesize-and-verify paradigm. The grouping method developed is based on a graph theoretical algorithm. It exploits prior knowledge to find the groups of image features which are likely to come from a sought model(s). The Bayesian classification is used to deal with the resulting hypotheses. A mechanism for a dynamic threshold modification is incorporated into the system to enable the grouping at different resolutions. Unlike classical techniques for object recognition from stereo, our strategy does not depend on a data driven computation of a depth map. We argue that a propulsive reconstruction of 3d information can be more efficient and robust.

关键词： Stereo vision Object recognition data mining Image segmentation data structures Indexing real time systems Robots Bayesian methods Image reconstruction

来源：评论

学校读者我要写书评

暂无评论

Motion coordination and reactive control of autonomous multi-manipulator systems

引用

Journal of Field robotics 1996年第11期13卷

作者： U. M. Nassal Institute for Real-Time Computer Systems and Robotics (IPR) University of Karlsruhe D-76128 Karlsruhe Germany

The emerging field of service robots demands new systems with increased flexibility. The flexibility of a robot system can be increased in many different ways. Mobile manipulation—the coordinated use of manipulation capabilities and mobility—is an approach to increase robots flexibility with regard to their motion capabilities. Most mobile manipulators that are currently under development use a single arm on a mobile platform. The use of a two-arm manipulator system allows increased manipulation capabilities, especially when large, heavy, or non-rigid objects must be manipulated. This article is concerned with motion control for mobile two-arm systems. These systems require new schemes for motion coordination and control. A coordination scheme called transparent coordination is presented that allows for an arbitrary number of manipulators on a mobile platform. Furthermore, a reactive control scheme is proposed to enable the platform to support sensor-guided manipulator motion. Finally, this article introduces a collision avoidance scheme for mobile two-arm robots. This scheme surveys the vehicle motion to avoid platform collisions and arm collisions caused by self-motion of the robot. © 1996 John Wiley & Sons, Inc.

关键词：

来源：评论

学校读者我要写书评

暂无评论

AN INTEGRATEd APPROACH TO SOFTWARE systems PLANNING ANd SELECTION BASEd ON CIMOSA MOdELS

引用

CONTROL ENGINEERING PRACTICE 1995年第1期3卷 97-103页

作者： NAEGER, G REMBOLd, U Department of Computer Science Institute for Real-Time Computer Systems and Robotics University of Karlsruhe 76128 Karlsruhe Germany

Strong international competition forces enterprises to reduce organizational overhead and cost. Today's industrial practices allow, in general, only the selection of whole planning and control systems for CIM (e.g., CAd systems, PP&C systems,...). These systems can be adapted only in a limited range to the user requirements. With the introduction of executable enterprise models to the industrial environment, it is expected that it will be possible to design tailored CIM systems built of standardized software modules which will lead to higher complexity of the planning process for software systems. Thus, today's planning and selection approaches will face more and more problems. In order to master the increasing complexity of the planning of software systems for enterprises, new planning methods and tools are required. An integrated approach to software system planning and selection based on CIMOSA enterprise models was developed. The underlying idea of the approach is the conversion of the planning problem into an equivalent constraint satisfaction problem. The conversion process can be accomplished fully automatically.

关键词： ENTERPRISE MOdELING CIMOSA RESOURCE SELECTION

来源：评论

学校读者我要写书评

暂无评论

A MULTIAGENT APPROACH WITH dISTRIBUTEd FUZZY-LOGIC CONTROL

引用

computerS IN INdUSTRY 1995年第3期26卷 219-227页

作者： BOHNER, P Institute for Real-Time Computer Systems and Robotics Faculty for Informatics University of Karlsruhe Kaiserstr. 12 76128 Karlsruhe Germany

The use of manipulator systems with many degrees of freedoms is essential to expand the field of potential applications. This paper presents a distributed approach for executing task-level programs for cooperating manipulators or one-arm systems with many degrees of freedom. At task level, only the movement of the objects to be manipulated is specified. The according manipulator motions are then calculated by assigning local intelligence to each joint. The local intelligence enables the joint agents to calculate in parallel their appropriate movements to make the end effector reach the desired position. during execution, each joint evaluates sensor data to compensate for execution errors, to react on unexpected obstacles and to provide the manipulator coordination. Therefore, a distributed fuzzy rule base has been developed. As this local evaluation may lead to non-optimal overall behavior of the manipulator, the joint agents communicate to provide global suboptimality.

关键词： dEPENdENT AGENTS dISTRIBUTEd AGENTS REACTIVE AGENTS PLAN-BASEd AGENTS dISTRIBUTEd CONTROL dISTRIBUTEd ARTIFICIAL INTELLIGENCE

来源：评论

学校读者我要写书评

暂无评论

real-time MAP REFINEMENT BY USE OF SONAR ANd ACTIVE STEREO-VISION

引用

robotics ANd AUTONOMOUS systems 1995年第1期16卷 47-56页

作者： WALLNER, F dILLMANN, R Institute for Real-Time Computer Systems & Robotics Department of Computer Science University of Karlsruhe P.O. Box 6980 76128 Karlsruhe 1 Germany

A mobile robot that navigates in an unknown or changing environment needs to maintain a dynamic model of its environment in order to update existing knowledge about the world. This paper addresses the problem of how to update a local model of the perceivable environment of a mobile robot and how to produce a description of newly perceived obstacles. A new hybrid concept is presented which combines the advantages of parameter- and grid-based modelling techniques. By introducing local grids that only cover areas where new obstacles are expected, the complexity of the map building process is significantly reduced. Local grids can be used in dynamic environment which was not possible with earlier grid-modelling approaches. The information, grids are constructed from, is provided by ultrasonic range sensors and an active stereo-vision system, Fusing information of both sensor systems is advantageous, especially due to their complementary error characteristics concerning range and angular resolution.

关键词： MOBILE ROBOT ACTIVE SENSING MAP BUILdING SENSOR FUSION

来源：评论

学校读者我要写书评

暂无评论

An adaptive fuzzy control for a three fingered robot gripper 3

An adaptive fuzzy control for a three fingered robot gripper

引用

3rd Australian and New Zealand Conference on Intelligent Information systems, ANZIIS 1995

作者： doersam, Thomas Hammerschmidt, Oliver University of Karlsruhe Department for Computer Science Institute for Real-Time Computer Systems and Robotics Kaiserstr. 12 KarlsruheD-76128 Germany University of Karlsruhe Department for Computer Science Institute for Microcomputers and Automation Kaiserstr. 12 KarlsruheD-76128 Germany

ISBN: (纸本)0864224303

Performing fine manipulations with multifingered robot hands makes high demands on the control algorithms and the speed of the control computer. Mainly non-linear friction problems and plant uncertainties require intensive fine-tuning of the controller. An adaptive fuzzy control which allows automatic controller tuning during plant operation is proposed and was added to an existing process control system. Finally, experimental results of a three fingered robot gripper using this adaptive fuzzy control are presented. © 1995 IEEE. All rights reserved.

关键词： real time systems

来源：评论

学校读者我要写书评

暂无评论

建议与咨询留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

时间限定

文献类型

馆藏选择

核心期刊

语言

文献类型

帮助

文字说明：

检索规则说明：

检索范例：

分类表

所选分类

限定检索结果

文献类型

馆藏范围

日期分布

学科分类号

主题

机构

作者

语言

请选择保存的检索档案：

请选择收藏分类：

通借通还

建议与咨询 留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

时间限定

文献类型

馆藏选择

核心期刊

语言

文献类型

帮助

文字说明：

检索规则说明：

检索范例：

分类表

所选分类

限定检索结果

文献类型

馆藏范围

日期分布

学科分类号

主题

机构

作者

语言

请选择保存的检索档案： 新增检索档案 确定 取消

请选择收藏分类： 新增自定义分类 确定 取消

通借通还

建议与咨询留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

请选择保存的检索档案：

请选择收藏分类：