Grasping Points Determination Using Visual Features

This paper discusses some issues for generating point of contact using visual features. To address these issues, the paper is divided into two sections: visual features extraction and grasp planning. In order to provide a suitable description of object contour, a method for grouping visual features is proposed. A very important aspect of this method is the wa

A review of parallel processing approaches to robot kinematics and Jacobian

Due to continuously increasing demands in the area of advanced robot control, it became necessary to speed up the computation. One way to reduce the computation time is to distribute the computation onto several processing units. In this survey we present different approaches to parallel computation of robot kinematics and Jacobian. Thereby, we discuss both the forward and the reverse problem. We introduce a classification scheme and classify the references by this scheme

Parallele Bewegungsplanung in dynamischen Umgebungen

Dieser interne Bericht gibt einen Ueberblick ueber die aktuellen Forschungsergebnisse aus dem gleichnamigen Projekt. Hierbei wird das Problem der praktikablen Bewegungsplanung fuer Industrieroboter in dynamischen Umgebungen angegangen. Der Grundalgorithmus ohne wesentliche off-line Berechnungen basiert auf der A*-Suche und arbeitet im impliziten, diskretisierten Konfigurationsraum. Die Kollisionen werden im kartesischen Arbeitsraum durch hierarchische Abstandsberechnung im gegebenen CAD-Modell erkannt. Eine zyklische Aufteilung des Suchraums auf die einzelnen Prozessoren ermoeglicht eine gut skalierbare Parallelverarbeitung fuer nachrichten-gekoppelte Rechnersysteme. Die Leistungsfaehigkeit des Bewegungsplaners wird an einem Satz von Benchmark-Problemen validiert. Unterstuetzt durch eine optimale Diskretisierung zeigt der neuartige Ansatz einen linearen Speedup. Fuer Umgebungen mit unbewegten Hindernissen liegen die Laufzeiten im Sekundenbereich. Zur weiteren Beschleunigung der Bewegungsplanung wird erstmalig eine heuristische hierarchische Suche im impliziten Konfigurationsraum eingefuehrt. Fuer zweidimensionale Benchmark-Probleme ergibt die Hierarchisierung eine starke Reduktion des Suchaufwandes

Modeling and Verification of a Robotic Surgical System using Hybrid Input/Output Automata

The area of robotic surgical systems has to deal with several important safety aspects to ensure that the patient and the Operating Room staff are safe. A robotic surgical system has to fulfill specific safety requirements and to ensure that the system reacts like its specification. To this end, a verification process is necessary. In this paper an architecture for robotic surgery is modeled using the framework of Hybrid Input/Output Automata (HIOAs). A case study based on a surgical robotic operation scenario is presented and modeled using HIOAs. Exploiting the modularity and compositionality theory of HIOAs, the verification of the system is performed

Application of Contract-based verification techniques for Hybrid Automata to Surgical Robotic Systems

Surgical robotic systems have to deliver a high quality of safety, since they deal with human lives. Their safety specifications must ensure the absence of risks for the patient and the operating room staff. To respect the modular nature of a surgical system, we propose a contract based verification approach for safety. We introduce a case study based on a typical surgical robotic operation scenario and model its components by using hybrid automata. We exploit the theory of parallel composition of contracts to verify properties on each component and prove that the property of the overall system can be obtained by composition