Fraunhofer-Institut für Produktionsanlagen und Konstruktionstechnik IPK

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  • Publication
    CareJack - die intelligente Softorthese zur Ergonomieunterstützung
    ( 2018)
    Kuschan, Jan
    ;
    Schmidt, Henning
    ;
    Krüger, Jörg
    Stressful physical activities are main reason for back pain, shoulder lesions and disc damage. These are the three main reasons for disability. ""CareJack"", a smart soft orthosis presented in this article, represents a novel approach to improve the workplace situation through automated real-time ergonomic analysis and assessment in order to indicate unergonomic movements or body poses to the user. The system is based on integrated movement measurement sensors, intelligent real-time movement data analysis algorithms and an embedded vibration feedback module.
  • Publication
    Structural analysis method for optimized design of complex kinematic structures using static and dynamic models and application to a robotic walking simulator
    ( 2010)
    Brüning, M.
    ;
    Hussein, S.
    ;
    Schmidt, H.
    ;
    Krüger, J.
    This paper describes an approach for structural analysis for design improvements of complex, e.g. hybrid, kinematic structures utilizing static and dynamic models. It is suitable to locate improvement potentials in existing mechanisms, facilitate goal-oriented design of new mechanisms or for a simulation-based controller synthesis e.g. a compliance-controller. To receive a model close to reality, mechanical influences, which are commonly neglected in conventional robot models, are analyzed regarding their relevance and if suitable integrated into the model. Investigated effects are the mechanical compliances of links and gears, compliances of the actuators resulting from the control circuits as well as non-linear frictional influences of the actuators. The kinematic and dynamic model is realized as an iterative solution instead of a closed analytic solution with extensive symbolic expressions. This leads to an analysis with clearly arranged aspects, further more the model is suitable for usage in a real-time control. The mechanical influences are analyzed analytically. The derived dynamic modeling is based on the Newton-Euler formulation. The approach is applied to the robotic walking simulator HapticWalker, a device for robot assisted gait rehabilitation. It consists of two identical hybrid parallel-serial manipulators. The forces calculated by the use of the developed model are in a good congruence with measured values. An obviously improved correspondence between measured and calculated values is achieved by the non-linear friction model of the actuators.
  • Publication
    An advanced robot control system for manufacturing processes
    ( 1991)
    Surdilovic, D.
    ;
    Duelen, G.
    ;
    Münch, H.
    Presented in this paper is an advanced robot control system which is used as a research and test environment. Its hierarchical and highly modularized structure, based on a new standard reference model proposed for telerobot control system architectures, allows customized development and implementation of different complex advanced control concepts and algorithms, including fusion of multisensor data. An overall system-oriented approach for sensor-driven manufacturing processes with industrial robots was developed and tested. A contact task was used to demonstrate the system performance.
  • Publication
    Execution planning for robotized production cells
    ( 1990)
    Bernhardt, R.
    An integrated manufacturing system planning and off-line programming concept is presented. A realized system for planning and explicit programming of a robotized assembly cell is explained in detail.
  • Publication
    Operational control for integrated robot systems into CIM. Survey and applications
    ( 1990)
    Bernhardt, R.
    In the article an overview of the ESPRIT 623 project is given. The project structure and the adopted approaches are briefly presented. The realized systems have been applied to many industrial projects. To showthe broad spectrum of applications these projects are presented reaching from a dot matrix printer assembly over a seam wellding inspection of off-shore plattforms to automation and robotic experiments in space.
  • Publication
    Results and benefits reached in an European Research Project. ESPRIT 623
    ( 1990)
    Bernhardt, R.
    The aim of the article is to present a quantification of results and benefits reached in the ESPRIT 623 project. "Operational Control of Robot System Integration into CIM". Thereby the following areas are addressed: - delivery of products, - acquisition of projects, - standardisation activities, - technology transfer, and - education. The quantification is basedon an inquiery done among the project partners.
  • Publication
    Integrated manufacturing system planning and off-line programming
    ( 1990)
    Bernhardt, R.
    An integrated manufacturing system planning and off-line programming concept is presented. A realized system for planning and explicit programming of a robotized assembly cell is explained in detail.
  • Publication
    Operational control for robot system integration into CIM - results and benefits
    ( 1990)
    Bernhardt, R.
    The aim of the article is to present a quantification of results and benefits reached in the ESPRIT 623 project: "Operational Control of Robot System Inegration into CIM". Thereby following areas are addressed: - delivery of product, - acquisition of projects, - standardization activities, - technology transfer, and - education. The quantification is based on an inquiery done among the project partners.
  • Publication
    Inspection of off-shore structures
    ( 1990)
    Schreck, G.
    For the inspection of underwater structures a remote handling system is being developed. The main components are a remote-controlled submersible transporting a robot and several tools. The presentation gives an overiew, how to use off-line programming techniques as well as for the vehicle programming as for the task and task execution planning for the robot.
  • Publication
    Operational control for robot system integration into CIM - Survey and applications
    ( 1990)
    Bernhardt, R.
    In the articale on overview of the ESPRIT 623 project is given. The project structure and the adopted approaches are briefly presented. The realized systems have been applied to any industrial projects. The show the broad spectrum of applications these projects are presented reaching from a dot matrix printer assembly over a seam welding inspection of off-shore plattforms to automation and robotic experiments in space.