The problem of a polygonal object moving in an uncertain polygonal environment, i.e. the positions and orientations of the objects relative to each other are not exactly known, is addressed. Furthermore, the moving ob...
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The problem of a polygonal object moving in an uncertain polygonal environment, i.e. the positions and orientations of the objects relative to each other are not exactly known, is addressed. Furthermore, the moving object does not move exactly as it is commanded to move. Due to these uncertainties, even a motion generated by a correct motion planner may fail, i.e. for instance, an unexpected contact may occur. A situation analyzer that enables the moving object to acquire information on a contact situation is presented. This analyzer uses the nominal world model including information on the magnitude of the uncertainties in order to get hypotheses on the geometric entities involved in the contact. The discrimination among the hypotheses is based on test motions, i.e. motions whose feasibility depends on the validity of a certain subset of the hypotheses.< >
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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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.
A planning concept is proposed which meets the requirements of flexibility and simplicity of the resulting plan structures and efficiency of replanning. The concept is based on a heuristic search process (branch-and-b...
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A planning concept is proposed which meets the requirements of flexibility and simplicity of the resulting plan structures and efficiency of replanning. The concept is based on a heuristic search process (branch-and-bound) by which a plan generation tree containing (as nodes) the most promising solution graphs is partly developed. This is achieved by a heuristic evaluation function which estimates the quality of the intermediate plans during the plan synthesis phase. The concept is shown for the area of automatic assembly using a small assembly task as an example. A short description of a robot planning system which is based on the concept is included.< >
HEROS (Hierarchically Extendible real-time Operating System), which was developed and implemented for the control and supervision of robots, is described. It allows the dynamic creation of processes and their manageme...
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ISBN:
(纸本)0818619120
HEROS (Hierarchically Extendible real-time Operating System), which was developed and implemented for the control and supervision of robots, is described. It allows the dynamic creation of processes and their management. The processes in HEROS have no knowledge of their mutual existence and possess no global kernel routines or variables. The interprocess communication and synchronization is accomplished through a channel mechanism, using simple and effective functional calls. The uncoupling of processes attained through the channel concept enables the tasks to be defined and implemented independently and to be operated in parallel. HEROS is composed of several clusters connected through a local area network (LAN). Each cluster consists of several conventional single-board computers, a global memory, and a network controller.
HEROS (hierarchically extendible real-time operating system), which was developed and implemented for the control and supervision of robots, is described. It allows the dynamic creation of processes and their manageme...
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HEROS (hierarchically extendible real-time operating system), which was developed and implemented for the control and supervision of robots, is described. It allows the dynamic creation of processes and their management. The processes in HEROS have no knowledge of their mutual existence and possess no global kernel routines or variables. The interprocess communication and synchronization is accomplished through a channel mechanism, using simple and effective functional calls. The uncoupling of processes attained through the channel concept enables the tasks to be defined and implemented independently and to be operated in parallel. HEROS is composed of several clusters connected through a local area network (LAN). Each cluster consists of several conventional single-board computers, a global memory, and a network controller.< >
An approach for applying a structural texture analysis method to automatic visual inspection of fabric samples in the textile industry is presented. The main steps (image preprocessing, image segmentation, model descr...
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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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