Fraunhofer-Institut für Produktionsanlagen und Konstruktionstechnik IPK

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  • Publication
    Complete, minimal and model-continous kinematic models for robot calibration
    ( 1997)
    Schröer, K.
    ;
    Albright, S.L.
    ;
    Grethlein, M.
    Presented in this paper are new general kinematic models for robot calibration. These models have the distinct advantage of satisfying the model-parameter identification requirements of completeness, minimality and model-continuity for all combinations and configurations of revolute and prismatic joints. Developed are a set of 17 model parametrizations, including simple criteria for deciding which parametrizations are to be used in modelling a robot. The presented parametrizations also result in an accurate representation of the physical robot and thus allow realistic integration of elastic deformation models. Model continuity within each parametrisation's application range is shown by means of differential geometry. Also shown is how these models are be extracted from a non-complex "vector-chain" description of a robot.
  • Publication
    Modelling closed-loop mechanisms in robots for purposes of calibration
    ( 1997)
    Schröer, K.
    ;
    Albright, S.L.
    ;
    Lisounkin, A.
    A method for modelling the significant parameters of closed-loop mechanisms in robots for purposes of calibration is presented. Non-linear kinematic and mechanical characteristics of the closed-loop mechanisms are modelled in such a way that they can be integrated into an open-loop manipulator model and identified. This integration is accomplished through a separation of the spatial open-loop manipulator (defining the kinematic model) and its joint-actuating mechanisms or actuator models which can be non-linear in case of closed-loop mechanisms. Identifiability of model parameters (including elasticity) is analysed and calibration results are presented.
  • Publication
    Genauigkeit koordinierter Bahnbewegungen
    ( 1995)
    Spur, G.
    ;
    Feil, A.
    ;
    Schröer, K.
    Precision of coordinated path movements. Apart from motions which a machine element describes only translationally or rotationally, mainly those movements are of interest for mechanical engineering, specifically for handling and robot technology, which occur by an overlaying of elementary forms of movement. The time-related and geometrical deviations of actual from ideal movements along a path call for a systematic description. This article provides an overview of definitions of movement deviations and of the state of standardization.
  • Publication
    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.