Fraunhofer-Institut für Produktionsanlagen und Konstruktionstechnik IPK

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  • Publication
    Design, programming and control of automation and robotics systems
    ( 1991)
    Duelen, G.
    ;
    Münch, H.
    The presented paper deals with preconditions, principals and methods for an efficient introduction of Automation and Robotics (A and R) to space applications. Based on available know-how from terrestrial automation the primary problem areas defined as A and R system design, programming, control and prototypic realization are handled with respect to fundamental space system related requirements. For verification of the applicability of automation principals and the desired functionality of orbital A and R system a true scale mock-up of the Columbus Free Flyer was realized. This system will be used for short- and midterm research and development activities related to A and R as well as the associated telescience concepts.
  • Publication
    Progress towards a new generation of robot control technique and systems
    ( 1991)
    Timm, J.
    ;
    Surdilovic, D.
    ;
    Duelen, G.
    ;
    Münch, H.
    The increasing demands of automatization of experiment-execution in orbital laboratories with high autonomy and flexibility leads to desired application of robots for multi-rack dedicated transport- and handling tasks as well as rack-internal automation. This paper deals with an advanced overall system-oriented modular robot control system, for space and industrial applications, which is currently under development at the Institute for Production Systems and Design Technology (IPK). This general purpose control system attempts to provide a basic hard- and software frame for the integration of a variety of advanced control techniques and concepts. Its architecture is based on standards developed by NASA and NBS. Different levels of this framework incorporate the theoretical and practical experiences gained at the IPK during years of development of industrial control systems and other investigations related to advanced control in the fields of: Off-line programming, trajectory planning, sensor guided process control, cooperating robots, control of redundant robotic systems and hybride force/position control.