Multisensordatenverarbeitung in der Robotik
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Multisensordatenverarbeitung in der Robotik: (268 Informatik-Fachberichte)

Multisensordatenverarbeitung in der Robotik: (268 Informatik-Fachberichte)


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About the Book

In diesem Buch wird die Multisensordatenverarbeitung bei Roboteranwendungen umfassend behandelt. Zunächst werden die wesentlichen Grundlagen der Informationsverarbeitung von Sensordaten dargestellt. In einem speziellen Kapitel werden die Besonderheiten der Montage mit Industrierobotern und die Anforderungen an ein Multisensorensystem betrachtet. Darauf aufbauend wird ein hierarchisches Konzept zur Überwachung und Diagnose von Roboteraktionen erarbeitet. Die Ebenen des Systems werden in bezug auf benötigtes Wissen, die Art der Verarbeitung und die Struktur der Daten untersucht. Je höher die Ebene, desto abstrakter ist die Formulierung der Verarbeitungsschritte korrespondierend mit der Wissensrepräsentation. Ein ausführliches Beispiel rundet die Darstellung ab. Das Multisensorsystem ist dabei in die Struktur eines fortgeschrittenen Handhabungssystems eingebettet. Dem Leser wird mit dem Buch eine übergreifende Sicht der Sensorproblematik in der Robotik vermittelt. Das spezielle Thema der Multisensorik stellt dabei keine Einschränkung dar, sondern läßt erst die zunehmende Bedeutung der Softwareaspekte von Sensoren in den Vordergrund treten.

Table of Contents:
1 Einführung und Aufgabenstellung.- 1.1 Sensoren und Meßtechnik, Definitionen.- 1.2 Sensoren in der Robotik.- 1.3 Eigener Ansatz.- 1.4 Zusammenfassung.- 2 Methoden und Techniken für die Sensordatenverarbeitung.- 2.1 Mustererkennung.- 2.2 Modellierungsmethoden für die Umwelt.- 2.3 Methoden der Künstlichen Intelligenz (KI).- 2.4 Modellierung von Unsicherheiten.- 2.5 Zusammenfassung.- 3 Sensorunterstützte Montage mit Industrierobotern.- 3.1 Fehler bei der Montage.- 3.2 Die Montageaufgabe.- 3.3 Sensorklassifikationen.- 3.4 Fusion von Sensordaten in Roboteranwendungen.- 3.5 Zusammenfassung.- 4 Das Konzept der Überwachung.- 4.1 Einbindung der Überwachung in ein Robotersystem.- 4.2 Die Überwachungskomponente.- 4.3 Kontrolle und Kommunikation.- 4.4 Das Weltmodell.- 4.5 Die Stufen der Sensordatenverarbeitung.- 4.6 Zusammenfassung.- 5 Der Ablauf einer Überwachung.- 5.1 Planungsvorgaben und reale Situation.- 5.2 Die Überwachung der Handhabungssequenz.- 5.3 Die Fehlererkennung.- 5.4 Diagnose der Fehlersituation.- 5.5 Zusammenfassung.- 6 Zusammenfassung und Ausblick.- 7 Literatur.- 8 Anhang.


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Product Details
  • ISBN-13: 9783540537458
  • Publisher: Springer-Verlag Berlin and Heidelberg GmbH & Co. KG
  • Publisher Imprint: Springer-Verlag Berlin and Heidelberg GmbH & Co. K
  • Height: 242 mm
  • No of Pages: 168
  • Returnable: Y
  • Width: 170 mm
  • ISBN-10: 3540537457
  • Publisher Date: 26 Feb 1991
  • Binding: Paperback
  • Language: German
  • Returnable: Y
  • Series Title: 268 Informatik-Fachberichte


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Multisensordatenverarbeitung in der Robotik: (268 Informatik-Fachberichte)
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