Fraunhofer-Institut für Produktionsanlagen und Konstruktionstechnik IPK

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Cooperation of human and machines in assembly lines

2009 , Krüger, Jörg , Lien, Terje K. , Verl, Alexander

Flexibility and changeability of assembly processes require a close cooperation between the worker and the automated assembly system. The interaction between human and robots improves the efficiency of individual complex assembly processes, particularly when a robot serves as an intelligent assistant. The paper gives a survey about forms of human-machine cooperation in assembly and available technologies that support the cooperation. Organizational and economic aspects of cooperative assembly including efficient component supply and logistics are also discussed.

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Complete, minimal and model-continous kinematic models for robot calibration

1997 , Schröer, K. , Albright, S.L. , Grethlein, M.

Presented in this paper are new general kinematic models for robot calibration. These models have the distinct advantage of satisfying the model-parameter identification requirements of completeness, minimality and model-continuity for all combinations and configurations of revolute and prismatic joints. Developed are a set of 17 model parametrizations, including simple criteria for deciding which parametrizations are to be used in modelling a robot. The presented parametrizations also result in an accurate representation of the physical robot and thus allow realistic integration of elastic deformation models. Model continuity within each parametrisation's application range is shown by means of differential geometry. Also shown is how these models are be extracted from a non-complex "vector-chain" description of a robot.

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Modelling closed-loop mechanisms in robots for purposes of calibration

1997 , Schröer, K. , Albright, S.L. , Lisounkin, A.

A method for modelling the significant parameters of closed-loop mechanisms in robots for purposes of calibration is presented. Non-linear kinematic and mechanical characteristics of the closed-loop mechanisms are modelled in such a way that they can be integrated into an open-loop manipulator model and identified. This integration is accomplished through a separation of the spatial open-loop manipulator (defining the kinematic model) and its joint-actuating mechanisms or actuator models which can be non-linear in case of closed-loop mechanisms. Identifiability of model parameters (including elasticity) is analysed and calibration results are presented.

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