This paper discusses the problem of automatic off-line programming and motion planning for industrial robots. At first, a new concept consisting of three steps is proposed. The first step, a new method for on-line motion planning is introduced. The motion planning method is based on the A*-search algorithm and works in the implicit configuration space. During searching, the collisions are detected in the explicitly represented Cartesian workspace by hierarchical distance computation. In the second step, the trajectory planner has to transform the path into a time and energy optimal robot program. The practical application of these two steps strongly depends on the method for robot calibration with high accuracy, thus, mapping the virtual world onto the real world, which is discussed in the third step.
Beim Greifen deformierbarer oder zerbrechlicher Werkstücke kommen der Greifgeschwindigkeit sowie der Greifkraft besondere Bedeutung zu. In dieser Arbeit wird eine universelle Steuerung für pneumatische Greifer beschrieben, die eine einfache Einstellung dieser Größen über zwei spannungsgesteuerte Proportionalventile gestattet. Diese Anordnung wird für eine Einflußanalyse von Greifkraft und Greifgeschwindigkeit beim Greifen von Kabeln und Kabelbäumen genutzt, welche sich als robust und unproblematisch erwiesen haben.
Enhancing the quality of surgical interventions is one of the main goals of surgical robotics. Thus we have devised a surgical robotic system for maxillofacial surgery which can be used as an intelligent intraoperative surgical tool. Up to now a surgeon preoperatively plans an intervention by studying twodimensional X-rays, thus neglecting the third dimension. In course of the special research programme "Computer and Sensor Aided Surgery" a planning system has been developed at our institute, which allows the surgeon to plan an operation on a threedimensional computer model of the patient . Transposing the preoperatively planned bone cuts, bore holes, cavities, and milled surfaces during surgery still proves to be a problem, as no adequate means are at hand: the actual performance of the surgical intervention and the surgical outcome solely depend on the experience and the skill of the operating surgeon. In this paper we present our approach of a surgical robotic system to be used in maxillofacial surgery. Special stress is being laid upon the modelling of the environment in the operating theatre and the motion planning of our surgical robot .