Fraunhofer-Institut für Produktionsanlagen und Konstruktionstechnik IPK

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  • 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.
  • Publication
  • Publication
    Programming and simulation system for the automation and robotics technology testbed
    ( 1991)
    Bernhardt, R.
    ;
    Duelen, G.
    ;
    Katschinski, V.
    The project partners ESTEC, Tecnospazio and IPK realized an A and R technology testbed (IARTTB) which is now implemented at ESTEC, Noordwijk. In this paper the off-line programming components for the robot and the task execution simulation system are presented. The basic development for these systems are made by the IPK under support of the ESPRIT 623 project. Results of this project have been used in a range of industrial applications including automative, shipbuilding, off-shore and space industries. In this paper the adaption of the off-line programming and simulation system to the requirements of the IARTTB is described in more detail starting with the basic.
  • Publication
    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.
  • Publication
    Seam-welds inspection of underwater structures using submersible mobile robot
    ( 1991)
    Ozdes, D.
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    Bernhardt, R.
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    Duelen, G.
    ;
    Katschinski, V.
    The paper reports on a project with the objective to inspect seam welds on underwater structures (e.g. oil platforms). A robot is mounted to a submersible vehicle which also carries the required equipment and tools for cleaning, measuring and inspection. The robot's tasks as well as the path of the submersible vehicle are preprogrammed using an off-line programming and simulation system developed at the IPK. In the first phase of the project, the overall concept was simulated by computer. Additionally, a laboratory model was constructed using a Manutec R 15 industrial robot and a tube intersection of a research platform in order to test the system. In further project phases, real underwater experiments are planned. Design work has begun concerning a waterproof robot and a mechanical interface between submersible vehicle and robot. This includes additional translational and rotational axes for robot positioning. The execution of robot tasks and the transport of the robot by the submersi ble vehicle to the underwater docking position have to be executed autonomously. For autonomous transport, a navigation system is required. Therefore, a feasibility study concerning analytical principles and performance evaluation was conducted in combination with a market survey of available components. Some of the study results are briefly presented in the paper.
  • Publication
  • Publication
    Design, control and operation of A and R-systems
    ( 1990)
    Bernhardt, R.
    ;
    Duelen, G.
    ;
    Münch, H.
  • Publication
    Integriertes Planungs- und Programmiersystem für Roboterzellen
    ( 1989)
    Bernhardt, R.
    ;
    Duelen, G.
    Roboter sind wichtige Komponenten für die flexible Automatisierung. Die Erweiterung ihres Einsatzbereiches sowie ihre Integration in CIM erfordert die Verfügbarkeit von rechnerunterstützten Werkzeugen sowohl für die Planung von Arbeitszellen als auch für die Erzeugung von Anwenderprogrammen für Industrieroboter. F und E Arbeiten in diesem Bereich werden am IPK in einer Vielzahl von Projekten durchgeführt. In diesem Rahmen liefert ein europäisches Forschungsprojekt (ESPRIT 623) wesentliche Beiträge.
  • Publication