Fraunhofer-Institut für Produktionsanlagen und Konstruktionstechnik IPK

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  • Publication
    Concept of an offline correction method based on historical data for milling operations using industrial robots
    ( 2016)
    Krüger, J.
    ;
    Zhao, H.
    ;
    Reis de Ascencao, G.
    ;
    Jacobi, P.
    ;
    Surdilovic, D.
    ;
    Schöll, S.
    ;
    Polley, W.
    Industrial robots for machining applications have been researched to achieve an alternative, flexible and less expensive machining technology against conventional machine tools. The previous work on industrial robots indicates that industrial robots are only applicable without requirement of high accuracy. The low accuracy and instability under various configurations of industry robot are still major barriers for deploying robots for machining in industries. In this paper, a new method, namely historical data based correction (HDC), is presented to improve the accuracy of industrial robots for milling operations. First, the HDC method is able to calculate the corrected values to compensate the systematical errors during milling operations. Consequently, new tool paths of robots with corrected values are generated. In addition, the HDC method is able to fulfill the requirement of large-scale production. With the proposed method, the surface quality of the machined parts can be improved by more than 60 % without using any additional measuring systems.
  • 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
    Helfer mit Gefühl
    ( 2009)
    Krüger, J.
    ;
    Surdilovic, D.
    ;
    Schreck, G.
    Der Einsatz von Industrierobotern zur Durchführung oder Nachbildung menschlicher Handlungen mit einer kraftschlüssigen Führung beweglicher Objekte wird anhand der Analyse des Öffnungsverhaltens von Lebensmittelverpackungen aufgezeigt. Durch die integrierte Sensorik erhält der Roboter nicht nur die Fähigkeit, den Widerstand oder die Nachgiebigkeit seiner Umgebung zu fühlen, sondern wird über entsprechende Regelungsverfahren selbst in die Lage versetzt, auf Krafteinwirkungen nachgiebig reagieren zu können, zum Beispiel, um geführt durch einen Werker seine Lage zu verändern. Grundlage für Untersuchungen zum Öffnungsprozess von 'Peel-Verschlüssen' bildet ein Messaufbau für die manuelle 3D-Bewegungserfassung des Öffnungsvorgangs. Das Ermitteln der Handbewegung erfolgt über ein kamerabasiertes 3D-Motion-Tracking-System. Zeitsynchron erfasst ein 6D-Kraft-Momentensensor die Prozesskräfte. Bei der Durchführung von Prüfungen mittels eines kraftgeregelten Industrieroboters bilden die aus Probandentests ermittelten Kenngrößen die Grundlage für die Programmierung des Roboters zur Nachbildung des menschlichen Verhaltens. Somit lässt sich die erforderliche Datengrundlage für die Analyse und Auswertung von Probandentests erstellen.
  • Publication
    Helfer mit Gefühl - Kraftgeregelte Robotersysteme
    ( 2009)
    Krüger, J.
    ;
    Surdilovic, D.
    ;
    Schreck, G.
  • 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.