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Fraunhofer-Institut für Produktionsanlagen und Konstruktionstechnik IPK
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PublicationRealisierung eines gesamtsystemorientierten Steuerungskonzepts( 1992)
;Surdilovic, D. ;Timm, J. ;Duelen, G.Münch, H.The increasing demands to automation of production systems leads to the application of sensor-based robot control systems. This article describes the realization of a hierarchical organized and modular robot control. The advanced planning and control functions for generation and execution of free-and force-constrained robot motions are explained in detail. Some of these functions are realized on an IPK-internal robot control system whose hardware and software architecture meets the given requirements is described to. The work gives an overview of the main work in the control algorithms design department at IPK. -
PublicationHierarchische Steuerungen für Industrieroboter zur Integration in ein Fertigungsleitsystem( 1992)
;Duelen, G.Schmidt, W.The functionality of modern robot controller shall achieve mechanisms for processing of complex sensor information, and for the communication with higher level host computer. For this, the required system performance can be realized by application of a hierarchical control architecture, in which the implicit concurrency of robot tasks is exploit. Hierarchical structures could be reflected very well on pipeline structures with abstract software processors. The temporal behavior of the pipeline structure can be improved by implementing of asynchronus communication mechanism between the controlprocesses. A realized chanal monitor performs the communication, chanal allocation, and synchronization. Due to the applications of real time operating system these mechanisms are transparent for the user of the robot control system. -
PublicationIntegration von Robotern in der flexiblen automatischen Fertigung( 1990)
;Bernhardt, R.Duelen, G. -
PublicationRechnerunterstütztes Planungssystem für NC-gesteuerte Beschichtungsanlagen - Simulation des Spritzvorganges( 1987)
;Stahlmann, H.-D. ;Liu, X. ;Hertwig, G.Duelen, G. -
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PublicationResearch and development of industrial robot systems in Europe( 1986)
;Duelen, G.Wendt, W. -
PublicationThe inverse kinematic problem in realtime application( 1984)
;Duelen, G. ;Held, J.Kirchhoff, U. -
PublicationProgrammtechnische Sicherheitsmassnahmen fuer die Steuerung von Industrierobotern. Kap. 14( 1983)
;Spur, G. ;Prager, K.-P.Duelen, G. -
PublicationTrends und Entwicklungen von intelligenten Sensoren in automatisierten Fertigungsprozessen( 1983)
;Spur, G.Duelen, G. -
PublicationSteigerung der Bahngenauigkeit durch regelungstechnische Massnahmen( 1983)
;Spur, G. ;Duelen, G.Wendt, W.