Fraunhofer-Institut für Produktionsanlagen und Konstruktionstechnik IPK

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Robust system identification for hysteresis-controlled devices using SINDy

2020 , Schreck, G. , Thiele, G. , Fey, A. , Krüger, J.

For advanced control of technical systems reliable system identification methods are essential. The data-driven framework Sparse Identification of Nonlinear Dynamics (SINDy) by Kutz and Brunton is extended in order to tackle hysteresis-controlled systems. In order to gain robustness, a so called proximity hysteron is introduced. This paper presents this extension and documents experiments with simulations of an academic example and an industrial chiller system. A proof of concept is followed by experiments which show that strong nonlinearities as well as inadequate sampling rates can critically impair the algorithm.

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Advanced methods for small batch robotic machining of hard material

2012 , Krüger, J. , Schreck, G. , Surdilovic, D. , Zhao, H.

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Extraction of characteristic curves for supervisory control of industrial processes using a data mining suite

2010 , Sabov, A. , Schreck, G.

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Energieeffizienzcontrolling in vernetzten Fabriken

2010 , Krüger, J. , Schreck, G.

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Wandlung der Steuerungstechnik durch Industrie 4.0

2015 , Chemnitz, M. , Schreck, G. , Krüger, J.

Die dritte industrielle Revolution in den Siebziger- und Achtzigerjahren des 20. Jahrhunderts basierte auf der Verbindung von Maschine und Computer und legte so den Grundstein der heutigen Automatisierungstechnik in der Fabrik. Sie gipfelte im Computer Integrated Manufacturing (CIM). Aber begrenzte Rechenleistung und die Dystopie einer menschenleeren Fabrik verhinderten einen Erfolg von CIM. Industrie 4.0 hingegen steht für die Integration von Mensch, Technik und Organisation. Ihre Basis bildet die Vernetzung von Produkten, Werkzeugen und Produktionsmitteln zusammen mit der Verfügbarkeit aller relevanten Informationen. Die Kombination mit aktuellen Entwicklungen wie Cloud Computing und Big Data ermöglicht die Analyse und Verwertung dieser Informationen.

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Dual arm robot for flexible and cooperative assembly

2011 , Krüger, J. , Schreck, G. , Surdilovic, D.

Dual-arm robots provide efficient approach for automated execution of complex assembly operations. With bimanual-manipulation, a dual-arm robot can simultaneously control relative motion and interaction of assembly counterparts in a dexterous human-like manner. This requires, however, sophisticated programming and control algorithms for arms cooperation. This paper addresses the development of an advanced industrial dual-arm robot system with novel capabilities, such as easy and rapid commissioning, compliance control of bimanual interaction in all assembly process phases, as well as intuitive planning and programming. The robot can be leased and easily integrated in assembly environment sharing the same workspace with human workers.

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A lunar cargo lander with an integrated ISRU based oxygen plant and autonomous, AI based operations

2010 , Bischof, B. , Kinnersley, M. , Heidmann, H.-J. , Schneidereit, M. , Lo, R. , Schreck, G. , Surdilovic, D.

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HEPHESTOS: Hard material small-batch industrial machining robot

2014 , Schreck, G. , Surdilovic, D. , Krüger, J.

In September 2012 a European collaborative project was launched entitled "Hard Material Small-Batch Industrial Machining Robot (HEPHESTOS)". HEPHESTOS' main objective is to develop novel technologies for the robotic hard material removal that will provide standard industrial robots with advanced techniques in machining planning, programming and real-time control. Hard materials machining has recently attracted great attentions from the advanced industries, in particular, the European automotive, the aerospace and the biomedical industries. However, the existing technology failed to provide these industries with a cost efficient solution to cope with small-batch production of large and complex-shaped products. The project HEPHESTOS, with its focus on developing sophisticated methods in robotic manufacturing, shall give rise to a cost-efficient solution in hard materials machining for this small-batch production of highly customized products through the application of industrial robots.

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Analyzing energy consumption of industrial robots

2011 , Chemnitz, M. , Schreck, G. , Krüger, J.

Energy conservation is a key aspect towards sustain-ability and is pursued by both, research and industry. To this end, we present measurements of the power consumption of two industrial robots. Based on a selected motion pattern the velocity and acceleration of the robot is varied and we show that the power is measurable with good repeatability. The energy of these motions is calculated from the power time series. Contrary to expectations it turns out that slow motions are not necessarily the most energy efficient. Finally, we show that the best strategy for energy conservation depends heavily on the robot model.

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Development of collaborative robots (COBOTS) for flexible human-integrated assembly automation

2010 , Surdilovic, D. , Schreck, G. , Schmidt, U.

This paper addresses the stability and safety issues in powered human-robot-environment interactive systems. It presents the extension of the robust control design framework, initially established for the interaction between an industrial robot and stiff environment, to novel human-robot-environment and human-robot-human-environment interactive systems with physical interfaces. This theoretical framework has been utilized for the control design of novel collaborative robot supporting complex assembly process in automotive industry developed in the PISA project. The practical design and initial application tests with a novel power collaborative developed in the PISA project are also presented in the paper.

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