The authors address development, implementation and performance tests of a hybrid position/force controller for stable metal removal using industrial robots. To define a general control structure for robotic deburring...
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The authors address development, implementation and performance tests of a hybrid position/force controller for stable metal removal using industrial robots. To define a general control structure for robotic deburring, they examine also force and motion planning problems and define an interface between task specification, interpolation, and servo control. The hybrid control problem is solved at both the servo and motion planning control levels. The feasibility of the proposed scheme in multi-axis industrial robots was verified experimentally on an advanced robot control system.< >
For many applications, robots are needed which have an absolute Cartesian pose accuracy of the same order of magnitude as their repeatability. Calibration procedures must be applied to reach this aim. In this paper, a...
For many applications, robots are needed which have an absolute Cartesian pose accuracy of the same order of magnitude as their repeatability. Calibration procedures must be applied to reach this aim. In this paper, a calibration procedure is presented which allows the automatic determination of all kinematic parameters, gear parameters, and static elasticity effects. With the aid of these results it is possible to increase pose accuracy up to the robot's system limit as determined by its repeatability. Moreover, information can be acquired which suggests improvements in robot design, thereby also improving repeatability.
An efficient hybrid control concept for force-constrained cooperating robots is presented. The entire control scheme is principally composed of two control levels; centralized coordination and decentralized control ex...
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An efficient hybrid control concept for force-constrained cooperating robots is presented. The entire control scheme is principally composed of two control levels; centralized coordination and decentralized control execution. The centralized coordination deals with the transformation of the coordinate vectors and the force vectors among the task space, the joint space and the end effect frames. Decentralized control execution is achieved in joint space. The authors adopt a proportional-integral (PI) control law for the force and the position controller in the joint space. The hybrid control scheme is compared with separate position control and master/slave control by simulation on typical cooperating robot systems with two six-jointed industrial robots carryout out exemplary tasks.< >
The concept to be presented enables an optimal trajectory synthesis for two kinematic chains cooperating in a common continuous path mode. The developed algorithms are applicable to arbitrary specified kinematic struc...
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The concept to be presented enables an optimal trajectory synthesis for two kinematic chains cooperating in a common continuous path mode. The developed algorithms are applicable to arbitrary specified kinematic structures as well as world environments and performe the optimal trajectory generation for the participated kinematic chains with respect to all production task related restrictions based on a simple adaption to new or modified production tasks by appropriate choice of specifying parameters.
The international initiative on Enterprise Inter- and Intra-Organisational Integration (EI3-IC) had the objective to increase both international consen sus (IC) and public awareness on enterprise integration. In...
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ISBN:
(数字)9780387356211
ISBN:
(纸本)9781402072772;9781475751512
The international initiative on Enterprise Inter- and Intra-Organisational Integration (EI3-IC) had the objective to increase both international consen sus (IC) and public awareness on enterprise integration. In these proceedings we intend to present the current status in inter- and intra-organisational inte gration for electronic commerce and thereby to further increase awareness and consensus within academia and industry about enterprise inter-and intra organisational integration. The conference proceedings contain the papers presented at the ICEIMT conference in Valencia, Spain, selected papers presented at the different workshops and three papers on the initiative itself: overview, history and results. The proceedings follow the conference structure with each section (Parts 2 to 5) starting with the workgroup reports, followed by a particular view on the section theme and additional papers either presented at the con ference or during the related workshop. Section editorials discuss the differ ent contributions. As stated in the paper by Nell and Goranson in section 1 the results from all workshops indicate the important role of business processes in the area of e-commerce and virtual enterprises. Sharing relevant knowledge between co operating partners and making it available for decision support at all levels of management and across organisational boundaries will significantly en hance the trust between the partners on the different levels of partner opera tions (strategy, policy, operation and transaction). Clearly business process modelling can significantly enhance establishment, operation and decom mission of the required collaboration.
By Robert C. Camp, PhD, PE Chairman Global Benchmarking Network (GBN), Best Practice institute™, Rochester, NY, USA The perception, sharing, and adoption of best practices is mostly attributed to the activity called b...
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ISBN:
(数字)9783662044667
By Robert C. Camp, PhD, PE Chairman Global Benchmarking Network (GBN), Best Practice institute™, Rochester, NY, USA The perception, sharing, and adoption of best practices is mostly attributed to the activity called benchmarking. Obtaining maximum value from best practices is usually attributed to knowledge management. One is an extension of the other. Knowledge management can be looked upon as the management of knowledge about best practices whether in the mind as human capital or as intellectual assets or property. Most organizations now recognize the absolute imperative for the identification and collection of best practices through benchmarking. It can be a strategic strength when practiced and a fatal weakness if not pursued. But there is a serious disconnection in the exchange and adoption process. Despite significant advances in the approaches and technology that pursue improvement (six sigma, process redesign, customer relationship management, etc.), organizations continue to experience great difficulty in successfully transferring leading practices. Some would say these are exemplary, proven, observed, or promising, but, in the final analysis, they are best practices -with the objective of becoming world class. More insight is needed into how leading, or best practices are transferred and adopted - said differently, best practices for knowledge transfer or knowledge management.
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