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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

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

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

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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

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

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

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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

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Simultaneous planning and execution in cranio- and maxillofacial surgery

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Studies in Health Technology and Informatics 1996年 29卷 435-446页

作者： Bohner, Petra Pokrandt, Peter Hassfeld, Stefan Institute for Real-Time Computer Systems and Robotics University of Karlsruhe D-76128 Karlsruhe Germany Clinic for Maxillofacial and Craniofacial Surgery University of Heidelberg D-69120 Heidelberg Germany

This paper describes the development of a system for simultaneous planning and execution of surgical operations in the cranio-maxillo facial area. Simultaneous planning and execution is the process of taking an implicit task description, planning a sequence of explicit execution commands e.g. for robots and monitoring their execution. As the execution planning process is running completely on-line, that means during the actual execution of the assembly task, the planning process is highly reactive based on sensor information about the robot's present environment. In order to meet the problem that medical data is usually complex and needs time-costly preprocessing an appropriate architecture for evaluating sensor data has been developed. In this paper, a detailed presentation of the phases of execution planning and sensor data evaluation is given. As an example, the execution of a LeFort I osteotomy is presented. © The authors 1996.

关键词： Surgery

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A communication protocol for hard and soft real-time systems

A communication protocol for hard and soft real-time systems

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Euromicro Conference on real-time systems

作者： C. Eriksson H. Thane M. Gustafsson Department of Real-Time Computer Systems Mälardalen University Sweden Royal Institute of Technology Sweden

The distributed real-time community is mainly divided into two camps: hard real-time and soft real-time; hybrid systems have been considered but not to any great extent. In this paper we propose a hybrid communication protocol, which forms a foundation for interconnection of nodes in a distributed hybrid real-time system. The protocol will enable both hard and soft real-time frames on a broadcast communication bus, yet still guarantees the hard real-time behaviour. The protocol will utilise the communication bandwidth more efficiently, which is relevant to cost-sensitive embedded applications.

关键词： real time systems Broadcasting Bandwidth Embedded system Clocks Synchronization Communication system control Control systems Access protocols time division multiple access

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Learning coordination skills in multi-agent systems

Learning coordination skills in multi-agent systems

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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

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Stereo grouping for model-based recognition

Stereo grouping for model-based recognition

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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

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Using a distributed knowledge base to coordinate autonomous mobile systems

Using a distributed knowledge base to coordinate autonomous ...

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International Workshop on Database and Expert systems Applications

作者： S. Stoehr Research Institute for Robotic and Real-Time Systems Department of Computer Science Technical University Munich Munich Germany

The autonomy of mobile systems increases constantly. That means that the flexibility of their task execution, their capabilities to handle local conflicts and the usage of their local knowledge increase. The paper shows that because of this autonomy coordination in a factory must be reconsidered and that global coordination is still able to improve the efficiency and the safety of autonomous mobile systems. It suggests a knowledge structure for coordination containing global information which is called section knowledge. This section knowledge helps the mobile systems to coordinate themselves. Furthermore, some agents, using the section knowledge, are introduced which can advise the mobile systems. The section knowledge is stored in the distributed knowledge base, whose features of preventing the section knowledge of becoming a bottleneck are explained.

关键词： Sensor systems Intelligent sensors Mobile computing Mobile robots Robot kinematics Production facilities Job shop scheduling Communication system traffic control real time systems computer science

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A concept of data migration in a distributed, object-oriented knowledge base

A concept of data migration in a distributed, object-oriente...

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International Workshop on Database and Expert systems Applications

作者： O. Schmid Research Institute for Robotic and Real-Time Systems Department of Computer Science Technical University Munich Munich Germany

The article presents the development of a concept for the distribution and migration of data to several databases within a distributed knowledge base. Thus a concept for a load-dependent and application-specific migration of data is introduced which takes into consideration the number and sort of accesses to the data. The main part of the migration method is a distribution function, which generates an optimal distribution of data on the databases according to the defined aims. It uses all information of the profile of accesses and evaluates this information with the help of several decision parameters of different priority. A quick reaction on changes in the profile of accesses is guaranteed by a cycle protocol, which consists of three parallelly running phases with a sort of pipeline structure.

关键词： Intelligent robots Mobile robots Distributed databases Object oriented modeling Runtime real time systems computer science Object oriented databases Pipelines Production

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Motion coordination and reactive control of autonomous multi-manipulator systems

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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.

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