Fraunhofer-Institut für Produktionsanlagen und Konstruktionstechnik IPK

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  • Publication
    Verkürzung der Taktzeiten roboterintegrierter Fertigungszellen bei reduziertem Planungsaufwand.
    ( 1993)
    Duelen, G.
    ;
    Münch, H.
    ;
    Zhang, Y.
    The efficiency of modern industrial robots in not only determined by the constructiuonal set-up, but by the quality of the control program as well. In the present article, processes for an optimization of kinematics for industrial robots are described which reduce the programmer's task to specifying the production job for the purpose of increasing the machine's intelligence, while the optimum pattern of movements is planned automatically and objectively according to quality criteria.
  • Publication
    An advanced robot control system for manufacturing processes
    ( 1991)
    Surdilovic, D.
    ;
    Duelen, G.
    ;
    Münch, H.
    Presented in this paper is an advanced robot control system which is used as a research and test environment. Its hierarchical and highly modularized structure, based on a new standard reference model proposed for telerobot control system architectures, allows customized development and implementation of different complex advanced control concepts and algorithms, including fusion of multisensor data. An overall system-oriented approach for sensor-driven manufacturing processes with industrial robots was developed and tested. A contact task was used to demonstrate the system performance.
  • Publication
    Steuerungen für Roboter - Erweiterte Funktionalität
    ( 1990)
    Schröer, K.
    ;
    Duelen, G.
    ;
    Münch, H.
    ;
    Schmidt, W.
    To increase the absolute position accuracy of industrial robots it is necessary to identify the reasons for position errors. The calibration process realizes the specification of geometrical errors due to manufacturing tolerances, gear transmission errors and deviation of the kinematic elements due to compliance and elastic of gears. A sophistocate function for the motion planning is the spline interpolation. Given a path and path velocity the interpolation function realizes a jerk-free velocity profile. Basis for the interpolation are polynoms of higher order. An example is shown for a cubic spline. For tasks in which the robot is in contact with the work piece surface the actuator control must be done by force/torque controllers. Dependent on the specified task the controller must realize an appropriate control strategy. For deburring processes a hybrid position/force/torque control is presented, in which the activ force vectors can be switched by matrices. The resolved problem of th e transformation error is discussed for which the Jacobi - matrix is used.
  • Publication
    Automatische Bewegungssynthese für bahnbezogen kooperierende Industrieroboter
    ( 1987)
    Duelen, G.
    ;
    Held, J.
    ;
    Kirchhoff, U.
    ;
    Münch, H.