Fraunhofer-Institut für Produktionsanlagen und Konstruktionstechnik IPK

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PC-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.

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Genauigkeitskenngrößen 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.

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Robot 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.

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Steuerungen für Roboter - Entwicklungstendenzen

1990 , Duelen, G. , Schmidt, W.

For solving complex problems, movements with specified force/torque are demanded. For this, beside of position controller. The resulting controller generation is a multi-sensor system to perceive changes in the world around the robot. A referenc model is presented by four hierarchical control levels with interfaces to the application process and to the higher level of cell control. For the time being, artifical intelligence is being applied in robotics to a not very complicated environment, i. e. by searching through state spaces. Where a-priori information exist, goal oriented planning can be performed offline. An example for the optimization of the velocity profile is discussed. An off-line programming system will be represented for task planning and simulation of the behavior of all the components involved in the production process.

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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.

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Integriertes 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.

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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.

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Calibration 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.

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CAD/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.

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Roboter-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.

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