Fraunhofer-Institut für Produktionsanlagen und Konstruktionstechnik IPK

Filters

3
3
Reset filters

Settings
Now showing 1 - 3 of 3
  • Publication
    Dual arm robot for flexible and cooperative assembly
    ( 2011)
    Krüger, J.
    ;
    Schreck, G.
    ;
    Surdilovic, D.
    Dual-arm robots provide efficient approach for automated execution of complex assembly operations. With bimanual-manipulation, a dual-arm robot can simultaneously control relative motion and interaction of assembly counterparts in a dexterous human-like manner. This requires, however, sophisticated programming and control algorithms for arms cooperation. This paper addresses the development of an advanced industrial dual-arm robot system with novel capabilities, such as easy and rapid commissioning, compliance control of bimanual interaction in all assembly process phases, as well as intuitive planning and programming. The robot can be leased and easily integrated in assembly environment sharing the same workspace with human workers.
  • Publication
    Robust control of force-coupled human-robot-interaction in assembly processes
    ( 2008)
    Krüger, J.
    ;
    Surdilovic, D.
    Flexibility and changeability of assembly processes require a close interlinkage between the worker and the automated assembly system. The interaction between human and robot improves complex assembly processes, particularly when a robot can be guided by a worker and the robot provides power assistance to the worker. The close physical contact and the direct coupling of forces of human and robot necessitate a stable and robust interaction control. This paper describes a framework developed for a robustly stable control design for interactive robots serving as intelligent assist systems for flexible and highly adaptable assembly.
  • Publication
    Intelligent assist systems for flexible assembly
    ( 2006)
    Krüger, J.
    ;
    Bernhardt, R.
    ;
    Surdilovic, D.
    The growing number of product variants, smaller lot sizes, reduced time to market and shorter lifecycles of products have lead to increasing demands on automation equipment and concepts. As a solution, hybrid human integrated approaches are proposed. The idea is to combine human flexibility, intelligence and skills with the advantages of sophisticated technical systems. Intelligent assist systems (IAS) represent a novel class of assembly systems capable of working with human operators in two modes: workplace sharing and time sharing. This paper presents a novel collaborative robot system ("Cobot") capable of sharing the workspace with the human co-worker and collaborating with him through direct physical contact.