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Combining holistic programming with kinematic parameter optimisation for robot machining

: Schneider, Ulrich

Volltext urn:nbn:de:0011-n-2985137 (1.6 MByte PDF)
MD5 Fingerprint: 9ed2aba71638e389a694d012514159f5
Erstellt am: 5.8.2014

Verband Deutscher Elektrotechniker e.V. -VDE-, Berlin:
ISR/Robotik 2014, Joint Conference of 45th International Symposium on Robotics and 8th German Conference on Robotics. Proceedings. CD-ROM : 2 -3 June 2014, Munich, Germany, parallel to AUTOMATICA
Berlin: VDE-Verlag, 2014
ISBN: 978-3-8007-3601-0
International Symposium on Robotics (ISR) <45, 2014, Munich>
German Conference on Robotics (ROBOTIK) <8, 2014, Munich>
European Commission EC
FP7; 604974; COMET
Konferenzbeitrag, Elektronische Publikation
Fraunhofer IPA ()
Bewegungsplanung; Roboter; Kinematik; Programmieren; Spanen; Simulation; Maschinenbau; Industrieroboter

Industrial robot technology provides an excellent base for machining as robots are very flexible and cost effective compared to CNC machines. In this article, two methods are presented to reduce set-up time when machining with industrial robots. Combining an advanced programming and simulation enviroment together with a kinematic compensation approach results in a seamless interaction of all steps in order to avoid manual interference in a later stage of the process. Experimental results will validate the presented approach and outline the potential.