Fraunhofer-Institut für Produktionsanlagen und Konstruktionstechnik IPK

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  • Publication
    Steuerungen für Roboter - Stand der Technik
    ( 1990)
    Duelen, G.
    ;
    Schmidt, W.
    The degree of flexibility is reflected in the three standard categories in which industrial automation is classified. Robotics is found to be closely allied with programmable automation. The function which present-day robotics has in its armoury can be divided into basic and special functions. In the robot systems currently used, the control system architecture still consist of program interpreter, movement scheduling and axis controller. To solve the inverse kinematic problem for robots whose kinematic chains do not meet the central hand conditions the use of iterative numerical methods is necessary. To identify changes of state in the production process, use is made of sensors. Suitable interfaces and sensor functions are needed. Finally the rates of growth for industrial robots in Japan, Europe and the USA are compared.
  • Publication
    Steuerungen für Roboter - Erweiterte Funktionalität
    ( 1990)
    Schröer, K.
    ;
    Duelen, G.
    ;
    Münch, H.
    ;
    Schmidt, W.
    To increase the absolute position accuracy of industrial robots it is necessary to identify the reasons for position errors. The calibration process realizes the specification of geometrical errors due to manufacturing tolerances, gear transmission errors and deviation of the kinematic elements due to compliance and elastic of gears. A sophistocate function for the motion planning is the spline interpolation. Given a path and path velocity the interpolation function realizes a jerk-free velocity profile. Basis for the interpolation are polynoms of higher order. An example is shown for a cubic spline. For tasks in which the robot is in contact with the work piece surface the actuator control must be done by force/torque controllers. Dependent on the specified task the controller must realize an appropriate control strategy. For deburring processes a hybrid position/force/torque control is presented, in which the activ force vectors can be switched by matrices. The resolved problem of th e transformation error is discussed for which the Jacobi - matrix is used.