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Fraunhofer-Institut für Produktionsanlagen und Konstruktionstechnik IPK
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PublicationKonturfolgen durch vorlaufende Sensoren( 1989)
;Dlabka, M. ;Timm, J. ;Held, J.Kirchhoff, U. -
PublicationForce control of industrial robots. The contact problem( 1989)
;Dlabka, M. ;Duelen, G. ;Held, J.Wendt, W. -
PublicationTeleoperation of remote manipulator based on off-line programming techniques for industrial robots( 1988)
;Bernhardt, R. ;Held, J.Kirchhoff, U.By the use of Automation and Robotics (A and R) the human presence in space can be minimized. On the other hand the human operator has to have the opportunity to control the task execution of the A and R-systems in the orbit from ground at any time. A ground based remote control concept is presented which has been developed using in principle control techniques of industrial robots and of existing offline programming technologies. A main aspect of the concept is the ability of automatic orbital system to execute basic function autonomously. For that reason the ground control system has only to command basic functions. By use of 3-D graphic animation also a ground supervision of task execution is possible. The concept primarily developed for robots can be extended for the control of orbital vehicles and other automatic facilities. (IPK) -
PublicationAutomatisierte Kalibrierung von Industrierobotern( 1988)
;Schröer, K. ;Held, J.Kirchhoff, U.Improvement of positioning accuracy is necessary for advanced robotic applications. The results and the procedure for model parameter identification of robots is presented. As measuring device an automatic theodolite system is used. Identification of kinematic-geometric parameters, gear parameters; elasticity parameters is possible. Improvement of positioning accuracy up to the limits set by repeatability is show through a verification procedure. -
PublicationA practical approach for planning an realization of optimal trajectories for industrial robots( 1988)
;Dlabka, M. ;Zhang, Y.Held, J.The paper presents a practical solution of the optimal trajectory planning task for robot motions. The method is applicable for any type of robot and Point to Point (PTP) motions. The numerical algorithm allows the consideration of a wide class of cost functions as well as task and robot specific restrictions. Results of the applied optimization methods in comparison with conventional trajectory planning are presented. (IPK) -
PublicationBewegungssynthese für bahnbezogen kooperierende Industrieroboter( 1987)
;Held, J.Münch, H. -
PublicationDarstellung der Probleme der lokalen Bahnplanung am Beispiel des vorlaufenden Sensors( 1987)
;Dlabka, M. ;Held, J. ;Kirchhoff, U.Spur, G. -
PublicationApproach for the estimation of kinematic parameters and joint stiffness of industrial robots( 1987)
;Duelen, G. ;Held, J.Kirchhoff, U. -
PublicationAutomatische Bewegungssynthese für bahnbezogen kooperierende Industrieroboter( 1987)
;Duelen, G. ;Held, J. ;Kirchhoff, U.Münch, H. -