Mobiles, kletterfähiges Robotersystem für automatisierte Handhabungsaufgaben in der Fertigung

The aim of development was a mobile robot system for applications in manufacturing. The main emphasis were in design and in the realisation of the robotic vehicle, in the automation of the process as well as in the development of a suitable man-machine interface for the tele-operative application. A appropriate movement principle for the mobile robot was selected, which includes its climbing ability with constant velocity as a basic function. In order to achieve full functionality with the automated handling process, a manipulator system with five degrees of freedom was presented. For the controlling of the mobile robot a concept with distributed data processor performance (micro controllers, which communicate via CAN-Bus) was sketched. For the recognition of the environment and for the supervision of the treatment process the vehicle was equipped with multiple sensors. In order to execute handling functions as far as possible autonomously, a behaviour-based control architecture was selected. With this control architecture, the behaviour of the robot was achieved not by the suppression of subordinated processes, but by an overlay of all behaviour desires. In this way new behaviours can simply be added in a modular way. With the selected control concept, complex driving manoeuvres on curved surfaces can be executed successfully by the mobile robot. For process control as well as visualisation system for teleoperative applications of the mobile robot, an interactive 3D-videosystem was developed.

Grantor dc:publisher

Publikationsserver der RWTH Aachen University

Year dc:date

2000

Author dc:creator

• Krause, Carsten Werner

Contributors dc:contributor

• Drews, Paul

• info:eu-repo/classification/ddc/620
• Schweißroboter
• Kletterroboter
• Telemanipulator
• Steuerungssystem
• Benutzeroberfläche
• Ingenieurwissenschaften
• Mobiler Roboter
• Handhabungstechnik
• Fertigung/Automation

Statement dc:rights

• info:eu-repo/semantics/openAccess

Language dc:language

ger

Identifier

https://publications.rwth-aachen.de/search?p=id:%22RWTH-CONV-123835%22

OAI identifier oai:identifier

oai:publications.rwth-aachen.de:62256