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Programming system for efficient use of industrial robots for deburring in SME environments

: Dietz, Thomas; Schneider, Ulrich; Barho, Marc; Oberer-Treitz, Susanne; Drust, Manuel; Hollmann, Rebecca; Hägele, Martin

Fulltext urn:nbn:de:0011-n-2083338 (680 KByte PDF)
MD5 Fingerprint: db229c22dfc7cad972913f3212fbe0e4
Created on: 4.3.2014

Berns, Karsten (Chair); Verl, Alexander (Vice Chair); Hägele, Martin (Session Chair) ; Deutsche Gesellschaft für Robotik; Informationstechnische Gesellschaft im VDE; Fraunhofer-Institut für Produktionstechnik und Automatisierung -IPA-, Stuttgart; TU Kaiserslautern:
ROBOTIK 2012, 7th German Conference on Robotics 2012. Proceedings. CD-ROM : 21-22 May 2012, Munich in Conjunction with Automatica 2012
Berlin: VDE-Verlag, 2012
ISBN: 978-3-8007-3418-4
German Conference on Robotics (ROBOTIK) <7, 2012, Munich>
International Trade Fair on Automation and Mechatronics (AUTOMATICA) <5, 2012, Munich>
Conference Paper, Electronic Publication
Fraunhofer IPA ()
KMU (Kleine und mittlere Unternehmen); Small and Medium Sized Enterprises (SME); SMErobotics; intuitive Programmierung; ROSETTA; COMET; Roboter; Industrieroboter; Programmieren

The use of robots in SME production environments requires programming systems that decrease programming effort and can be used by process experts rather than robotics experts. The core sources of information available to the robot system are human input, sensor data and model data. However most programming systems only connect one or two of these information sources to generate robot programs. The presented programming concept featuring hand-guided robot operation for intuitive robot instruction, use of workpiece CAD-models to retrieve nominal model information and a triangulation sensor for detection of workpiece contours features combination of all three sources of information and promises efficient robot programing for deburring applications in SME production. Finally a kinematic compensation approach is investigated which provides good positioning accuracy which is in particular important when dealing with workpieces of large dimensions.