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IEEE International Workshop on Intelligent Robots and systems (IROS)

作者： G. Wohlke Institute for Real-Time Computer Control Systems and Robotics Faculty for Informatics University of Karlsruhe Karlsruhe Germany

This paper deals with the two fundamental problems that occur when objects are manipulated with multi-finger robot hands: the determination of the joint motions to perform a manipulation according to a given object trajectory, and the optimization of the joint torques needed to ensure a stable and secure grip. The consideration of the effect of rolling and slipping of the fingertips at the contact points on the object surface leads to a set of linear differential equations for the joint angles and to a partly nonlinear optimization problem for the joint torques solved by the Hooke-Jeeves algorithm. The removal of redundant information reduces the computational effort to about 40% of the operations required for the standard procedure. Especially, the resulting object motions are demonstrated at an example: the rotation of an ellipsoid object with the fingers of the Karlsruhe dextrous hand.< >

关键词： Robots real time systems Equations Motion control Control systems Fingers Grippers Automatic control Flowcharts Torque control

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Task description, decomposition, and allocation in a distributed autonomous multi-agent robot system

Task description, decomposition, and allocation in a distrib...

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Proceedings of IEEE/RSJ International Conference on Intelligent Robots and systems (IROS'94)

作者： T.C. Lueth T. Laengle Insitute of Real Time Computer Systems and Robotics IPR University of Karlsruhe Karlsruhe Germany

In this paper a new intelligent control architecture for autonomous multi-robot systems is presented. Furthermore, the paper deals with task description, task distribution, task allocation and coordination of the system components. The main advantage of the new control architecture is the distributed execution of tasks or subtasks by components of the multi-robot system. The components are able to build teams dynamically thereby avoiding the bottle neck problem of the information flow in centralized controlled architectures. The communication and cooperation between components to achieve distributed organized control architectures is studied. The described intelligent control architecture is to replace the former control architecture of the autonomous robot KAMRO.< >

关键词： Intelligent robots Intelligent control Robot kinematics Communication system control computer architecture Control systems Multirobot systems Centralized control Distributed control Flexible manufacturing systems

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From autonomous assembly robots to service robots for factories

From autonomous assembly robots to service robots for factor...

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Proceedings of IEEE/RSJ International Conference on Intelligent Robots and systems (IROS'94)

作者： U. Rembold T. Lueth T. Ogasawara Inst. for Real-Time Comput. Syst. & Robotics IPR Karlsruhe Univ. Germany Institute for Real-Time Computer Systems and Robotics IPR University of Karlsruhe Karlsruhe Germany Electro Technical Laboratory Tsukuba Ibaraki Japan

Besides the typical use of industrial robots in a manufacturing setting, new application areas for robots have been appearing during the past few years. In these areas, service robots perform general purpose activities without requiring repeated high speed movements or other requirements of industrial robot applications. For the development of service robots, the use and integration of research results obtained in the autonomous robot field is much more necessary than for the development of robots used in manufacturing. Both, high autonomy during service performance and simple system access, which also means flexible programming or user-friendly system control is desired over an easily operated man/machine interface. In this paper, properties of service robots are defined and some similarities and differences between service robots and fully autonomous robots are explained. The enhancement of an existing autonomous assembly robot, which is made to be a flexible service robot for industrial environments, is considered. The paper concludes with a running experiment, which shows how this robot prototype is used for different tasks in a manufacturing line.< >

关键词： Robotic assembly Service robots Production facilities Robot sensing systems robotics and automation Manufacturing industries Product design Sensor systems Air transportation real time systems

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KANTRA-human-machine interaction for intelligent robots using natural language

KANTRA-human-machine interaction for intelligent robots usin...

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IEEE International Workshop on Robot and Human Communication (ROMAN)

作者： T.C. Lueth T. Laengle G. Herzog E. Stopp U. Rembold Institute for Real-Time Computer Systems and Robotics University of Karlsruhe Karlsruhe Germany Project VITRA-FB 14 Informatik University of Saarland Saarbrucken Germany

In this paper, a new natural language interface is presented that can be applied to make the use of intelligent robots more flexible. This interface was developed for the autonomous mobile two-arm robot KAMRO, which uses several camera systems to generate an environment model and to perform assembly tasks. A fundamental requirement in human-machine interaction for intelligent robots is the ability to refer to objects in the robot's environment. Hence, the interface and the intelligent system need similar environment models and it is necessary to provide current sensor information. Additional flexibility can be achieved by integrating the man-machine interface into control architecture of the robot and to give it an access to all internal information and to the models that the robot uses for an autonomous behaviour. In order to fully exploit the capabilities or a natural language access, we present a dialogue-based interface KANTRA, in which the human-machine interaction is not restricted to unidirectional communication.< >

关键词： Intelligent robots Robot sensing systems Natural languages Robotic assembly Man machine systems Intelligent sensors Mobile robots Robot vision systems Cameras Assembly systems

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Robust subgoal planning and motion execution for robots in fuzzy environments

Robust subgoal planning and motion execution for robots in f...

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IEEE International Workshop on Intelligent Robots and systems (IROS)

作者： Jianwei Zhang J. Raozkowsky Institute for Real-Time Computer Systems and Robotics University of Karlsruhe Germany Karlsruher Institut fur Technologie - Campus Nord Eggenstein-Leopoldshafen Baden-WÃ¼rttemberg DE Inst. for Real-Time Comput. Syst. & Robotics Karlsruhe Univ. Germany

In this paper, a fuzzy environment includes obstacles in the vicinity of robot motion, which cannot be modelled exactly or are entirely unknown, and a vague description of the relationship between the robot and the obstacles. An integrated concept for solving the problem of motion planning and control of robots in fuzzy environments is proposed. First, critical points for the desired motion are found in a connectivity network on the boundary of static obstacles. By considering the degree of uncertainty of the obstacles, the local geometry, the available free space and the path shape, these points are further adjusted to form subgoals which reliably decide the global motion direction. During on-line motion execution, a fuzzy controller evaluates sensor data, realizes the motion towards subgoals and avoids local unexpected collisions. Simulations with mobile robots show some control results using this concept.< >

关键词： Robustness Motion planning Motion control Robot control Fuzzy control Robot motion Orbital robotics Uncertainty Computational geometry Shape

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Intelligent Manufacturing Components for Future CIM systems

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IFAC Proceedings Volumes 1994年第4期27卷 1-10页

作者： U. Rembold T. Lueth T. Ogasawara University of Karlsruhe Institute for Real-Time Computer Systems and Robotics IPR D-76128 Karlsruhe Germany Electrotechnical Laboratory M.I.T.I. 1-1-4 Umezono Tsukuba Ibaraki 305 Japan

This paper introduces into the general problem of manufacturing, discusses the impact and consequences of the growing internationalisation of markets and gives an overview of the trends in key technologies of manufacturing systems. Furthermore, this paper discusses especially the need for virtual factory concepts and intelligent manufacturing components for future CIM systems. The intelligence of the subsystems is required in large-scale manufacturing systems to master the problems that will result from the system’s complexity.

关键词： Industrial Control Manufacturing processes Decentralized Control Hierarchical Intelligent Control Virtual Factory Intelligent Manufacturing

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time-delay neural networks for control

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IFAC Proceedings Volumes 1994年第14期27卷 967-972页

作者： M. Kaiser University of Karlsruhe Department of Computer Science Institute for Real-Time Computer Systems & Robotics Prof. Dr.-Ing. U. Rembold and Prof. Dr.-Ing. R. Dillmann D-76128 Karlsruhe Germany

This paper presents results regarding the Application of time-Delay Neural Networks (TDNNs), up to now mainly used in speech recognition, for control tasks. A set of examples taken from a model-based robot controller is used to validate the suitability of the TDNN and to show its superiority to standard multilayer perceptrons. Afterwards, a new algorithm is presented that shows how the inherent capability of the TDNN to deal with time-variant signals can be employed to directly generate a TDNN from a PID control law. This synthesized neural controller is operational from the very beginning and can be tuned on-line using existing learning techniques. The advantages of this design procedure are shown for a simple control task.

关键词： Neural nets control system design control system synthesis adaptive control knowledge engineering

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Utilizing spatial relations for natural language access to an autonomous mobile robot 18th

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18th Annual German Conference on Artificial Intelligence, KI 1994

作者： Stopp, Eva Gapp, Klaus-Peter Herzog, Gerd Laengle, Thomas Lueth, Tim C. SFB 314-Project VITRA FB 14 Informatik Universität des Saarlandes SaarbrückenD-66041 Germany Institute for Real-Time Computer Systems and Robotics Prof. Dr.-Ing. U. Rembold and Prof. Dr.-Ing. R. Dillmann Universität Karlsruhe KarlsruheD-76128 Germany

ISBN: (纸本)9783540584674

Natural language, a primary communication medium for humans, facilitates better human-machine interaction and could be an efficient means to use intelligent robots in a more flexible manner. In this paper, we report on our joint efforts at providing natural language access to the autonomous mobile two-arm robot KAMRO. The robot is able to perform complex assembly tasks. To achieve autonomous behaviour, several camera systems are used for the perception of the environment during task execution. Since natural language utterances must be interpreted with respect to the robot’s current environment the processing must be based on a referential semantics that is perceptually anchored. Considering localization expressions, we demonstrate how, on the one hand, verbal descriptions, and on the other hand, knowledge about the physical environment, i.e., visual and geometric information, can be connected to each other. © 1994, Springer Verlag. All rights reserved.

关键词： Intelligent robots

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APPLICATIONS OF FUZZY-LOGIC CONTROL IN AUTONOMOUS ROBOT systems

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INTERNATIONAL JOURNAL OF systems SCIENCE 1993年第10期24卷 1885-1904页

作者： ZHANG, JW Institute for Real-Time Computer Systems and Robotics Department of Computer Science University of Karlsruhe Karlsruhe Germany

The development of autonomous robots involves the imitation of human decision-making abilities with the aid of diverse sensor information. Fuzzy logic, which is based on fuzzy modelling and approximate reasoning, can be applied in different levels of control tasks. We first present the research results of applying fuzzy logic control in the motion execution of mobile systems and sensor-guided fine-motion of a manipulator. To realize real-time 'reactive' control, suitable hardware which supports the acceleration of fuzzy inference should be developed. The design and development of a VME-bus compatible fuzzy co-processor is also described.

关键词： Fuzzy inference

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CONTACT ANALYSIS AND VERIFICATION IN A 2D ENVIRONMENT WITH UNCERTAINTIES

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JOURNAL OF INTELLIGENT & ROBOTIC systems 1993年第2期7卷 175-193页

作者： HORMANN, K HUBNER, T SPRENG, M 1. Institute for Real-Time Computer Systems and Robotics Universit?t Karlsruhe Postfach 6980 W-7500 Karlsruhe Germany

This contribution presents results of a research project concerned with the planning and execution of motions in uncertain environments. In particular, the problem of a moving convex polygon within an uncertain two-dimensional environment has been investigated. The essential sub-problem of how to analyse unexpected contacts is treated. Using a set-oriented model of the uncertainties, the motion possibilities of the polygon is investigated for the different contact types. Also based on the model of the uncertainties, the potential locations of the geometric elements are constructed and intersected, giving us the contact hypotheses. With the help of exploratory motions, an attempt is made to decide between ambiguous hypotheses. The question of which exploratory motions are useful for the different contact types is also investigated. After an exploratory motion has been executed, its results must be evaluated with respect to the validity of the hypotheses. The system has been implemented and is also described in this paper.

关键词： UNCERTAINTY CONTACTS TEST MOTIONS FREEDOMS OF MOTION

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