Fraunhofer-Institut für Produktionsanlagen und Konstruktionstechnik IPK

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A theoretical and experimental investigation of position based force and impedance control for industrial robots

1995 , Surdilovic, D. , Duelen, G.

In this paper we present the experimental results of the real time performance of basic force and impedance control algorithms. The control design is based on linear system modelling and analysis such that the closed loop system meets basic design requirements. Additionally, in the impedance control, the aim is to achieve a specific target impedance. The experiments show the performance of both compliant control concepts in performing a relatively simple contact task with a conventional industrial robot. The impacts of target impedance on contact stability and force transient and steady-state behaviours are also investigated. Our initial experiments have proven the theoretical analysis based on the linearised industrial robot and environment models. However, it is also shown that several nonlinearities inherent in real robotic systems, such as Coulomb friction and control quantisations, can jeopardise the performance of position-based force and impedance control causing limit-cycles.

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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.

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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.

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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.

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Remote procedure call -RPC- oriented database server as a solution for database integration

1993 , Fang, S.-G. , Bernhardt, R. , Duelen, G.

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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.

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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.

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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.

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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.

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Berechnung der 3-dimensionalen elektrostatischen Feldverteilung auf beiden Seiten eines freigeformten, dünnen und leitenden Bleches - eine neue numerische Methode

1991 , Duelen, G. , Liu, X. , Stahlmann, H.-D.

A numerical method of computing the three dimensional electric field intensity on the both sides of a free sculptured electric conducting sheet with the help of the electric charge model (Lorentz) has been developed. To illustrate the efficiency of the method, sample examples were given and their results were compared with the exact analytical values. A general computer program is available. One of the important applications of this method is in the research area of the electrostatic coating processes.

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