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Fraunhofer-Institut für Produktionsanlagen und Konstruktionstechnik IPK
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PublicationPC-basiertes Robotersteuerungssystem mit generierten Systemkomponenten( 1997)
;Duelen, G. ;Fries, T.Foitzig, V.Moderne Steuerungsarchitekturen und neue Softwareentwicklungsmethoden wie die generative Programmierung unterstützen die Entwicklung von leistungsfähigen und dennoch kostengünstigen Steuerungssystemen. Die in diesem Beitrag vorgestellte PC-basierte Robotersteuerung verfügt über eine wartungsfreundliche Softwarearchitektur, in die generierte Softwarekomponenten integriert sind. -
PublicationVerkürzung 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. -
PublicationCalibration applied to quality control and maintenance in robot production( 1993)
;Duelen, G. ;Bernhardt, R. ;Schröer, K.Albright, S.Calibration procedures using raw data from complex mechanical systems like robots can be used to obtain information about internal defects and deviations of the system. In order to use these results in diagnostic reasoning, information about their precision and reliability are required. Procedures are presented which allow such information to be obtained despite the presence of unknown and purely stochastic error sources inherent in the mechanical system. -
PublicationGenauigkeitskenngrößen von Industrierobotern gemäß ISO 9238 automatisch bestimmen( 1992)
;Grethlein, M. ;Ueckerdt, R.Duelen, G.Die Festlegung des Standards ISO 9283 "Industrial Manipulating Robots - Performance Criteria and Related Testing Methods" ist ein wichtiger Schritt in Richtung der Vereinheitlichung von Genauigkeitsangaben für Industrieroboter. In diesem Aufsatz wird ein System zur vollautomatisierten Vermessung und Ermittlung von Genauigkeitskenngrößen gemäß diesem Standard vorgestellt. Es handelt sich um ein flexibles Softwaresystem , das mit unterschiedlichen Meßsystemen und verschiedenen Robotersteuerungen gekoppelt werden kann, so daß eine individuelle Anpassung an verschiedene Anwendungsanforderungen möglich ist. Es wird ein Meßplatz beschrieben, mit dem die Autoren praktische Erfahrungen mit dem ISO-Standard gesammelt haben. Es existiert eine Reihe offener Fragestellungen bei der Umsetzung des Standards, für die Lösungsansätze angeboten werden. Genauere Analysen von Meßergebnissen gemäß ISO 9283 weisen auf Mängel innerhalb des Standards hin. Eine Diskussion der Ergebnisse, bei der grundsätzliche Probleme behandelt und Änderungsvorschläge gemacht werden, soll gleichzeitig als Diskussionsgrundlage für die 1993/94 zu erwartende Revision des Standards ISO 9283 dienen. -
PublicationAn 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. -
PublicationRobot calibration - method and results( 1991)
;Schröer, K.Duelen, G.For many applications, robots are needed which have an absolute cartesian pose accuracy the same order of magnitude as their repeatability. Calibration procedures have to be applied to reach this aim. In the following paper, a calibration procedure is presented which allows the automatic determination of all kinematic parameters, gear parameters, and static elasticity effects. With the aid of these results it is possible to increase pose accuracy up to the robot's system limit as determined by its repeatability. Moreover, information can be acquired which gives hints toward improvements in robot design, therby also improving repeatability. -
PublicationIntegriertes Planungs- und Off-line-Programmiersystem( 1991)
;Schreck, G. ;Bernhardt, R. ;Duelen, G.Katschinski, V.The paper reports on an off-line programming and simulation system developed at the IPK-Berlin. Some relevant industrial applications are presented. Furthermore the integration of this basic components to a planning system for robotized workcells is described. -
PublicationCAD/CAM-unterstütztes Umrüsten von Produktionsanlagen( 1991)
;Jacobi, A.Duelen, G.Application of robot simulation and off-line programming for retooling of flexible production lines in car manufacturing. An efficient CAD/CAM-based retooling of robot production cells requires suitable concepts for industrial utilisation, for the CAD/CAM-system and its simulation models. The utilisation of this new technology for retooling of robot cells is described. The CAD/CAM-System ensures a continous usage of data by an integrated CAD/CAM-data base and by extendable system functionalities. The described model concept realises precise simulation results by controller specific models. -
PublicationRoboter-Kalibration durch Abstandsmessungen( 1991)
;Schröer, K.Duelen, G.For many applications, robots are needed which have an absolute, cartesian pose accuracy in the same order of magnitude as their repeatability. Calibration procedures have to be applied to reach this aim. The required measurements must be very precise and therefore need complex and expensive measuring procedures and devices. In the paper, it is shown that for these measurements distance sensors can also be employed and how it can be done by enlarging the robot model. -
PublicationSteuerungen 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.