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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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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Energieeffizienzcontrolling in vernetzten Fabriken

2010 , Krüger, J. , Schreck, G.

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Simulation based training and assistant systems for biogas facilities

2006 , Lisounkin, A. , Sabov, A. , Schreck, G. , Krüger, J.

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HEPHESTOS: Hard material small-batch industrial machining robot

2014 , Schreck, G. , Surdilovic, D. , Krüger, J.

In September 2012 a European collaborative project was launched entitled "Hard Material Small-Batch Industrial Machining Robot (HEPHESTOS)". HEPHESTOS' main objective is to develop novel technologies for the robotic hard material removal that will provide standard industrial robots with advanced techniques in machining planning, programming and real-time control. Hard materials machining has recently attracted great attentions from the advanced industries, in particular, the European automotive, the aerospace and the biomedical industries. However, the existing technology failed to provide these industries with a cost efficient solution to cope with small-batch production of large and complex-shaped products. The project HEPHESTOS, with its focus on developing sophisticated methods in robotic manufacturing, shall give rise to a cost-efficient solution in hard materials machining for this small-batch production of highly customized products through the application of industrial robots.

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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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Szenariomanagement für internetbasierte Trainingsdienste

2008 , Krüger, J. , Schreck, G. , Sabov, A.

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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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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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Scenario modeling in environmental monitoring and civil protection applications

2007 , Sabov, A. , Schreck, G. , Krüger, J.

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