Fraunhofer-Institut für Produktionsanlagen und Konstruktionstechnik IPK

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  • Publication
    Towards High-Payload Admittance Control for Manual Guidance with Environmental Contact
    ( 2022)
    Haninger, Kevin
    ;
    Radke, Marcel
    ;
    Vick, Axel
    ;
    Krüger, Jörg
    Force control enables hands-on teaching and physical collaboration, with the potential to improve ergonomics and flexibility of automation. Established methods for the design of compliance, impedance control, and collision response can achieve free-space stability and acceptable peak contact force on lightweight, lower payload robots. Scaling collaboration to higher payloads can allow new applications, but introduces challenges due to the more significant payload dynamics and the use of higher-payload industrial robots. To achieve high-payload manual guidance with contact, this paper proposes and validates new mechatronic design methods: standard admittance control is extended with damping feedback, compliant structures are integrated to the environment, and a contact response method which allows continuous admittance control is proposed. These methods are compared with respect to free-space stability, contact stability, and peak contact force. The resulting methods are then applied to realize two contact-rich tasks on a 16 kg payload (peg in hole and slot assembly) and free-space co-manipulation of a 50 kg payload.
  • Publication
    Industrielle kraftgeregelte Schraubprozesse
    ( 2022)
    Bastidas Cruz, Arturo
    ;
    Jaya, Tanureza
    ;
    Haninger, Kevin
    ;
    Krüger, Jörg
    Manuelle Schraubmontagen profitieren von menschlichen feinmotorischen Fähigkeiten für die flexible Positionierung der Werkzeuge und Bauteile. Solche Prozesse lassen sich mithilfe eines kooperativen Robotersystems automatisieren, welches flexibel in einer dynamischen Umgebung agiert und insbesondere die Fähigkeit mitbringt, hohe Prozesskräfte aufzunehmen. In diesem Beitrag wird eine Methode zur Automatisierung von kraftgeregelten Schraubvorgängen beschrieben und die sich dabei ergebenden Herausforderungen erläutert.