Fraunhofer-Institut für Produktionsanlagen und Konstruktionstechnik IPK

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  • Publication
    Verkürzung der Taktzeiten roboterintegrierter Fertigungszellen bei reduziertem Planungsaufwand.
    ( 1993)
    Duelen, G.
    ;
    Münch, H.
    ;
    Zhang, Y.
    The efficiency of modern industrial robots in not only determined by the constructiuonal set-up, but by the quality of the control program as well. In the present article, processes for an optimization of kinematics for industrial robots are described which reduce the programmer's task to specifying the production job for the purpose of increasing the machine's intelligence, while the optimum pattern of movements is planned automatically and objectively according to quality criteria.
  • Publication
    Realisierung eines gesamtsystemorientierten Steuerungskonzepts
    ( 1992)
    Surdilovic, D.
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    Timm, J.
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    Duelen, G.
    ;
    Münch, H.
    The increasing demands to automation of production systems leads to the application of sensor-based robot control systems. This article describes the realization of a hierarchical organized and modular robot control. The advanced planning and control functions for generation and execution of free-and force-constrained robot motions are explained in detail. Some of these functions are realized on an IPK-internal robot control system whose hardware and software architecture meets the given requirements is described to. The work gives an overview of the main work in the control algorithms design department at IPK.
  • Publication
    Sensor-guided, hybrid controlled parts mating with robots
    ( 1992)
    Sorowka, D.
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    Duelen, G.
    ;
    Münch, H.
    Parts mating and especially peg-in-hole operations are essential tasks which have to be solved for robot-based automation of assembly processes. Related to task specification, small or missing chamfers and great tolerances within the spatial relation between peg and hole require the introduction of sensor-based intelligent parts mating strategies. The paper to be presented deals with the theoretical description and practical verification of an advanced parts mating procedure. To demonstrate the attainable performance of robot- based parts mating, a complex mating task was chosen. It is basically defined by mating parts having no chamfers, small tolerances between the mating parts and big deviations of the nominal configuration between the mating parts at the beginning of the assembly process. The peg-in-hole problem was chosen because it is of high importance in the field of industrial assembly automation. The developed solution strategy is characterized by a sequential procedure inclu ding the three phases of the mating process given by Contact, Correction, and Insertion. In the scope of a practical verification based on an advanced robot control system, an industrial robot with six degrees of freedom and a six-component force/torque sensor mounted at the robot's wrist, the applicability and performance of the new control procedure was proven.
  • Publication
    Progress towards a new generation of robot control technique and systems
    ( 1991)
    Timm, J.
    ;
    Surdilovic, D.
    ;
    Duelen, G.
    ;
    Münch, H.
    The increasing demands of automatization of experiment-execution in orbital laboratories with high autonomy and flexibility leads to desired application of robots for multi-rack dedicated transport- and handling tasks as well as rack-internal automation. This paper deals with an advanced overall system-oriented modular robot control system, for space and industrial applications, which is currently under development at the Institute for Production Systems and Design Technology (IPK). This general purpose control system attempts to provide a basic hard- and software frame for the integration of a variety of advanced control techniques and concepts. Its architecture is based on standards developed by NASA and NBS. Different levels of this framework incorporate the theoretical and practical experiences gained at the IPK during years of development of industrial control systems and other investigations related to advanced control in the fields of: Off-line programming, trajectory planning, sensor guided process control, cooperating robots, control of redundant robotic systems and hybride force/position control.
  • Publication
    An advanced robot control system for manufacturing processes
    ( 1991)
    Surdilovic, D.
    ;
    Duelen, G.
    ;
    Münch, H.
    Presented in this paper is an advanced robot control system which is used as a research and test environment. Its hierarchical and highly modularized structure, based on a new standard reference model proposed for telerobot control system architectures, allows customized development and implementation of different complex advanced control concepts and algorithms, including fusion of multisensor data. An overall system-oriented approach for sensor-driven manufacturing processes with industrial robots was developed and tested. A contact task was used to demonstrate the system performance.
  • Publication
    An advanced robot control system for sensor-based motion control
    ( 1991)
    Surdilovic, D.
    ;
    Duelen, G.
    ;
    Münch, H.
    This paper is focused on the two central issues in the advanced robotics systems: functional control architecture and the integration of the multiple sensors into planning and control. A new advanced robotic control system is proposed and presented in the paper. This control system is based on a sophisticated architecture which integrates the autonomous control and sensory systems in a more efficient and coherent way. The main features of this system are: open control architecture, highly modular software structure, powerful computation system, and customized programming and control development environments. The performance of the control system are illustrated on the example of an application-oriented prototype for robotic deburring.
  • Publication
    Concepts and algorithms for programming and control of force-constrained cooperative robots
    ( 1991)
    Zhang, Y.
    ;
    Duelen, G.
    ;
    Münch, H.
    Task planning and control of force-constrained cooperating robot systems are investigated in this paper. The developed algorithms for the coordinated optimal motion planning and force distribution of force-constrained cooperating robots take various task specific requirements into consideration and are adaptible to any kinematic and any assignment in the production cell. The developed hybrid control scheme is characterized by its validity in various classes of tasks and its hierarchical structure. The validity of the concepts and algorithms for the task planning and control was successfully proved by the simulation on typical cooperating robot systems with two six-jointed industrial robots using exemplary tasks.
  • Publication
    Intelligent programming of force-constrained cooperating robots
    ( 1991)
    Zhang, Y.
    ;
    Duelen, G.
    ;
    Münch, H.
    In this paper, concepts and algorithms for the coordinated optimal motion planning and force distribution for force-constrained cooperating robots are presented. The developed algorithms are characterized by the possibility to take various task specific requirements into consideration and by its adaptability to any kinematic and any assignment in the production cell through corresponding modelling, without change of the solution structure. This implies, on one hand, free programmability, and on the other hand, the integration of all task-related constraints and requirements.
  • Publication
    A comparison of control strategies for force constrained cooperating robots
    ( 1991)
    Zhang, Y.
    ;
    Duelen, G.
    ;
    Münch, H.
    An efficient hybrid control concept for forceconstrained cooperating robots is presented and compared with separate position control and master/slave control by the simulation on typical cooperating robot systems with two six-jointed industrial robots using exemplary tasks.
  • Publication
    Design, programming and control of automation and robotics systems
    ( 1991)
    Duelen, G.
    ;
    Münch, H.
    The presented paper deals with preconditions, principals and methods for an efficient introduction of Automation and Robotics (A and R) to space applications. Based on available know-how from terrestrial automation the primary problem areas defined as A and R system design, programming, control and prototypic realization are handled with respect to fundamental space system related requirements. For verification of the applicability of automation principals and the desired functionality of orbital A and R system a true scale mock-up of the Columbus Free Flyer was realized. This system will be used for short- and midterm research and development activities related to A and R as well as the associated telescience concepts.