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  4. Execution of off-line generated and simulated application programs
 
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1991
Conference Paper
Title

Execution of off-line generated and simulated application programs

Abstract
Presented in this paper is an off-line programming and simulation system developed and demonstrated by the IPK under support of the ESPRIT 623 project. Results of this porject have been used in a range of industrial applications including automotive, shipbuilding, off-shore and space industries. Stresses in this paper is the executability of offline generated and pre-tested (simulated) robot application programs on the "shop floor". This concerns, to a great extent, the absolute positioning accuracy of the robot. In response to this problem, a modelbased calibration procedure has been developed at the IPK and is briefly presented in the second half of this paper. The procedure identifies robot-model parameters which can be used to compensate off-line generated robot poses. Using this technique, a robot's accuracy can be improved to its accuracy limit defined by repeatability.
Author(s)
Albright, S.
Schröer, K.
Bernhardt, R.
Mainwork
Mechatronics and Robotics '91. Proceedings  
Conference
Mechatronics and Robotics Conference 1991  
Language
English
Fraunhofer-Institut für Produktionsanlagen und Konstruktionstechnik IPK  
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