Fraunhofer-Institut für Produktionsanlagen und Konstruktionstechnik IPK

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Intuitive Roboterprogrammierung per Fingerzeig

2018 , Heimann, Oliver , Hügle, Johannes

Automatisierte Produktionsabläufe werden zunehmend wichtiger. Dennoch ist der Mensch nach wie vor ein unerlässlicher Faktor, da die künstliche Intelligenz von Robotern noch nicht ausreicht. Das Fraunhofer IPK hat nun ein System entwickelt, das eine gestenbasierte, intuitive Programmierung von Robotern für Schweißanwendungen mit hoher Präzision ermöglicht.

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New intelligent power-assist systems based on differential transmission

2003 , Surdilovic, D. , Bernhardt, R. , Zhang, L.

This paper presents a novel Cobotic system with differential CVT. The new system is significantly cheaper, simpler to control and more efficient than Cobots with S-CVTs. Both path-guidance and power-assist functions can be simply realized with the new system. Basic structures, kinematic and dynamic models, as well as control algorithms, which are essential for design, control synthesis and control of the system, are briefly presented in the paper.

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Handling with ice - the cryo-gripper, a new approach

1999 , Stephan, J. , Seliger, G.

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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.

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Hard material small-batch industrial machining robot

2018 , Brunete, A. , Gambao, E. , Koskinen, J. , Heikkilä, T. , Kaldestad, K.B. , Tyapin, I. , Hovland, G. , Surdilovic, D. , Hernando, M. , Bottero, A. , Anton, S.

Hard materials can be cost effectively machined with standard industrial robots by enhancing current state-of-the-art technologies. It is demonstrated that even hard metals with specific robotics-optimised novel hard-metal tools can be machined by standard industrial robots with an improved position-control approach and enhanced compliance-control functions. It also shows that the novel strategies to compensate for elastic robot errors, based on models and advanced control, as well as the utilisation of new affordable sensors and human-machine interfaces, can considerably improve the robot performance and applicability of robots in machining tasks. In conjunction with the development of safe robots for human-robot collaboration and cooperation, the results of this paper provide a solid background for establishing industrial robots for industrial-machining applications in both small- and medium-size enterprises and large industry. The planned short-term and long-term exploitation of the results should significantly increase the future robot usage in the machining operations.

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Service-Scheckheft für die Maschine

2002 , Graupner, T.-D. , Hohwieler, E.

Auf der Grundlage der modernen Informations- und Kommunikationstechnologien erfolgt derzeit die Einführung elektronischer Service-Scheckhefte im Maschinen- und Anlagenbau. Die Instandhaltung von Produktionseinrichtungen folgt damit nicht mehr starren Wartungszyklen, sondern lässt sich der tatsächlichen Anlagenbelastung anpassen.

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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.

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Cooperation of human and machines in assembly lines

2009 , Krüger, Jörg , Lien, Terje K. , Verl, Alexander

Flexibility and changeability of assembly processes require a close cooperation between the worker and the automated assembly system. The interaction between human and robots improves the efficiency of individual complex assembly processes, particularly when a robot serves as an intelligent assistant. The paper gives a survey about forms of human-machine cooperation in assembly and available technologies that support the cooperation. Organizational and economic aspects of cooperative assembly including efficient component supply and logistics are also discussed.

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Architektur und Anwendungen eines zugelassenen Medizinroboters

2001 , Hein, A. , Lüth, T.

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Approaches for commissioning time reduction

1997 , Bernhardt, R.

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