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

2010 , Sabov, A. , Schreck, G.

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Flexible assembly systems through workplace-sharing and time-sharing human-machine cooperation (PISA)

2010 , Krüger, J. , Katschinski, V. , Surdilovic, D. , Schreck, G.

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Interaktive Roboter und fortgeschrittene Handling-Systeme - Neueste Entwicklungen und Erfahrungen aus dem prototypischen Einsatz in der Industrie

2009 , Surdilovic, D. , Schreck, G. , Katschinski, V. , Schmidt, U.

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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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PISA: Next generation of flexible assembly systems - from initial ideas to industrial prototypes

2010 , Krüger, J. , Katschinski, V. , Surdilovic, D. , Schreck, G.

In September 2006 an integrated European project (IP) was launched entitled "Flexible Assembly Systems through Workplace-Sharing and Time-Sharing Human-Machine Cooperation (PISA)". The general aim of the project is to develop intelligent assist systems (IAS) in order to support the human worker instead of replace him. The idea is to combine human flexibility, intelligence and skills with the advantages of sophisticated technical systems. Further developments within the project are focused on reconfigurability and reusability of assembly equipment, and required planning tools for end-users. The paper presents the initial project objectives, and the resulting prototype systems developed by the partners of the PISA consortium.

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Energieeffizienzcontrolling in vernetzten Fabriken

2010 , Krüger, J. , Schreck, G.

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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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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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