Elements of an advanced robot control system for assembly tasks

One of the goals of robotic research is the development of robot systems that are capable of operating in the real world. Besides an intelligent control architecture, this requires a powerful sensor system to recognise the environment and a set of intelligent sensor-controlled strategies to react to the uncertain conditions of the real world. This paper first describes the system architecture of the robot system which is being developed at the Institute for Real-Time Computer Systems and Robotics of the University of Karlsruhe and then concentrates on three aspects: knowledge-based image processing, generation of explicit robot actions and sensor-controlled assembly operations.<>