Now showing 1 - 10 of 17
  • Publication
    Robust system identification for hysteresis-controlled devices using SINDy
    ( 2020)
    Schreck, G.
    ;
    Thiele, G.
    ;
    Fey, A.
    ;
    Krüger, J.
    For advanced control of technical systems reliable system identification methods are essential. The data-driven framework Sparse Identification of Nonlinear Dynamics (SINDy) by Kutz and Brunton is extended in order to tackle hysteresis-controlled systems. In order to gain robustness, a so called proximity hysteron is introduced. This paper presents this extension and documents experiments with simulations of an academic example and an industrial chiller system. A proof of concept is followed by experiments which show that strong nonlinearities as well as inadequate sampling rates can critically impair the algorithm.
  • Publication
    Wandlung der Steuerungstechnik durch Industrie 4.0
    ( 2015)
    Chemnitz, M.
    ;
    Schreck, G.
    ;
    Krüger, J.
    Die dritte industrielle Revolution in den Siebziger- und Achtzigerjahren des 20. Jahrhunderts basierte auf der Verbindung von Maschine und Computer und legte so den Grundstein der heutigen Automatisierungstechnik in der Fabrik. Sie gipfelte im Computer Integrated Manufacturing (CIM). Aber begrenzte Rechenleistung und die Dystopie einer menschenleeren Fabrik verhinderten einen Erfolg von CIM. Industrie 4.0 hingegen steht für die Integration von Mensch, Technik und Organisation. Ihre Basis bildet die Vernetzung von Produkten, Werkzeugen und Produktionsmitteln zusammen mit der Verfügbarkeit aller relevanten Informationen. Die Kombination mit aktuellen Entwicklungen wie Cloud Computing und Big Data ermöglicht die Analyse und Verwertung dieser Informationen.
  • Publication
    Advanced methods for small batch robotic machining of hard material
    ( 2012)
    Krüger, J.
    ;
    Schreck, G.
    ;
    Surdilovic, D.
    ;
    Zhao, H.
  • Publication
    Analyzing energy consumption of industrial robots
    ( 2011)
    Chemnitz, M.
    ;
    Schreck, G.
    ;
    Krüger, J.
    Energy conservation is a key aspect towards sustain-ability and is pursued by both, research and industry. To this end, we present measurements of the power consumption of two industrial robots. Based on a selected motion pattern the velocity and acceleration of the robot is varied and we show that the power is measurable with good repeatability. The energy of these motions is calculated from the power time series. Contrary to expectations it turns out that slow motions are not necessarily the most energy efficient. Finally, we show that the best strategy for energy conservation depends heavily on the robot model.
  • 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
    Flexible assembly systems through workplace-sharing and time-sharing human-machine cooperation (PISA)
    ( 2010)
    Krüger, J.
    ;
    Katschinski, V.
    ;
    Surdilovic, D.
    ;
    Schreck, G.
  • Publication
    Energieeffizienzcontrolling in vernetzten Fabriken
    ( 2010)
    Krüger, J.
    ;
    Schreck, G.
  • Publication
    PISA: Next generation of flexible assembly systems - from initial ideas to industrial prototypes
    ( 2010)
    Krüger, J.
    ;
    Katschinski, V.
    ;
    Surdilovic, D.
    ;
    Schreck, G.
    In September 2006 an integrated European project (IP) was launched entitled "Flexible Assembly Systems through Workplace-Sharing and Time-Sharing Human-Machine Cooperation (PISA)". The general aim of the project is to develop intelligent assist systems (IAS) in order to support the human worker instead of replace him. The idea is to combine human flexibility, intelligence and skills with the advantages of sophisticated technical systems. Further developments within the project are focused on reconfigurability and reusability of assembly equipment, and required planning tools for end-users. The paper presents the initial project objectives, and the resulting prototype systems developed by the partners of the PISA consortium.
  • Publication
    Energieeffizienzcontrolling in der Automobilproduktion
    ( 2010)
    Krüger, J.
    ;
    Schreck, G.
  • Publication
    Helfer mit Gefühl - Kraftgeregelte Robotersysteme
    ( 2009)
    Krüger, J.
    ;
    Surdilovic, D.
    ;
    Schreck, G.