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检索条件"机构=ISW Institute for Control Engineering of Machine Tools and Manufacturing Units"

共 336 条记录，以下是51-60 订阅

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Online Parameterization of a Milling Force Model using an Intelligent System Architecture and Bayesian Optimization 55

Online Parameterization of a Milling Force Model using an In...

引用

55th CIRP Conference on manufacturing Systems, CIRP CMS 2022

作者： Schmucker, B. Trautwein, F. Hartl, R. Lechler, A. Zaeh, M.F. Verl, A. Institute for Machine Tools and Industrial Management Iwb Technical University of Munich Boltzmannstr. 15 Garching85748 Germany Institute for Control Engineering of Machine Tools and Manufacturing Units ISW University of Stuttgart Seidenstr. 36 Stuttgart70174 Germany

This paper presents an efficient and industry-ready system architecture that enables both the control of machining operations and the high-frequency acquisition of controller data and external sensor signals. Using the recorded data, a dexel-based mechanistic cutting force model, which enables the estimation of cutting forces for complex tool geometries in arbitrary machining operations, is parameterized via an instantaneous cutting force identification method. In the introduced identification method, Bayesian Optimization and Dynamic Time Warping are combined to avoid time-consuming and error-prone synchronization of measurement and simulation. The suitability of this approach was demonstrated by performing cutting experiments at various radial depths of cut and feed rates per tooth. Thereby, a good agreement between simulation and measurement could be observed. © 2022 The Authors. Published by Elsevier B.V.

关键词： Data Analytics Industry 4.0 machine tools Process Simulation

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Improved control for the Impact Actuator

Improved Control for the Impact Actuator

引用

European control Conference (ECC)

作者： Alexander Schulte Armin Lechler Alexander Verl Institute for Control Engineering of Machine Tools and Manufacturing Units University of Stuttgart Stuttgart Germany

ISBN: (数字)9783907144107

ISBN: (纸本)9798331540920

The impact actuator uses the momentum transfer during mechanical impacts to accelerate linear feed axes. As a result, nearly abrupt changes in velocity can be achieved. So far, the impact and thus the velocity change have been idealized as abrupt within the controller. Since very high but not infinite accelerations occur, no actual jumps in velocity can be achieved, resulting in position and contour errors at corners in planned trajectories. In this paper, an extended control method is considered which takes into account these physical limitations of the approach in order to improve the system behavior. Using a reference trajectory, a comparison is made between regular trajectory planning, the previous control method with idealized impacts, and the new approach with improved control.

关键词： Actuators Systematics Trajectory planning Force Dynamics Europe Trajectory

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High Bandwidth Force control for Robotic Friction Stir Welding

High Bandwidth Force Control for Robotic Friction Stir Weldi...

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Iberian Robotics Conference (ROBOT)

作者： Valentin Kamm Armin Lechler Alexander Verl Institute for Control Engineering of Machine Tools and Manufacturing Units University of Stuttgart Stuttgart Germany

ISBN: (数字)9798350376364

ISBN: (纸本)9798350376371

Due to their flexibility and cost efficiency, industrial robots are increasingly being used for manufacturing processes. One such process is friction stir welding, which places high demands on the manipulator due to the high process forces and force gradients involved. The high compliance of industrial robots compared to traditional machine tools necessitates the implementation of force control for robotic friction stir welding. This paper presents an approach to increasing the bandwidth during force control of robotic friction stir welding. To achieve this, an industrial robot is controlled through an open control architecture, which offers the possibility to employ advanced force control structures. An admittance controller with inner velocity loop and a parallel force controller are compared to the state-of-the-art external force controller and validated in a digital twin of the robot. The most promising structure of the admittance controller is then implemented and validated on the test system, demonstrating an increase in accuracy and efficiency.

关键词： Service robots Welding Friction Force Bandwidth Industrial robots Digital twins Admittance Force control Robots

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Learning Compensation of the State-Dependent Transmission Errors in Rack-and-Pinion Drives

Learning Compensation of the State-Dependent Transmission Er...

引用

European control Conference (ECC)

作者： Lukas Steinle Valentin Leipe Armin Lechler Alexander Veri Institute for Control Engineering of Machine Tools and Manufacturing Units University of Stuttgart Stuttgart Germany

ISBN: (数字)9783907144107

ISBN: (纸本)9798331540920

Rack-and-pinion drives are commonly used in large machine tools to provide linear motion of heavy loads over long travel distances. A key concern in this context is the achievable path accuracy, which is limited by assembly and manufacturing tolerances of the gearing components in conjunction with load-dependent deformation and the inherent backlash of the system. To address this issue, this paper presents a method for robust modeling of the individual and state-dependent transmission errors of a drive utilizing a two-stage machine learning approach. Based on this, the position control is extended to include an error compensation, which suppresses the modeled deviations in the mechanical system including the position-dependent backlash. The achievable increase in path accuracy as well as the robustness of the approach are evaluated and quantified by an experimental validation on a system with industry standard components.

关键词： Deformable models Training Accuracy Deformation System dynamics Training data machine learning

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Methods for Localization in Multi-Scale Material Flow Simulation for Virtual Commissioning

Methods for Localization in Multi-Scale Material Flow Simula...

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Electrical, Computer, Communications and Mechatronics engineering (ICECCME), International Conference on

作者： Annika Kienzlen Alexander Verl Institute for Control Engineering of Machine Tools and Manufacturing Units University of Stuttgart Stuttgart Germany

ISBN: (数字)9798350391183

ISBN: (纸本)9798350391190

While the importance of virtual commissioning is increasing and not only individual machines but also production lines are being simulated, the simulation of material flow for numerous piece goods is still a challenge. Combining models in a multi-scale simulation can exploit their advantages. The macroscopic flow model excels at modeling the behavior of large quantities of piece goods, however, it cannot provide information about individual piece goods. This led to the approach of the combination with a microscopic physics-based model in a multi-scale material flow simulation. To switch between models, the coordinates of the positions (microscopic) have to be translated in one direction into the material description of the macroscopic flow model (the density distribution). In the other direction, the density distribution has to be translated into the coordinates of the positions, leading to a computationally intensive optimization problem. This paper develops various methods for finding a start solution and compares them to a method of the state of the art. The evaluation is based on their accuracy with reference to various parameters of the data set. The results show the best accuracies for the method which traverses the density distribution and calculates the sum of the densities until it matches a single piece good. Depending on the accuracy required, it may be possible to use the start solution directly without further optimization.

关键词： Location awareness Accuracy Mechatronics Computational modeling Microscopy Switches Production Optimization

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Towards Efficient Real-Time Model Adaption for Online Simulation at machine Level 2

Towards Efficient Real-Time Model Adaption for Online Simula...

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2nd International Conference on Intelligent control and Computing, IC-C 2024

作者： Deubert, Darius Zhou, Zhibo Selig, Andreas Verl, Alexander Bosch Rexroth AG Lohr am Main Germany Robert Bosch GmbH Corporate Sector Research and Advance Engineering Renningen Germany Institute for Control Engineering of Machine Tools and Manufacturing Units University of Stuttgart Stuttgart Germany

ISBN: (纸本)9798350351873

The simulation of components, machines or plants provides many benefits in today's manufacturing. Online simulation, in this context, means that a system is simulated in parallel to its operation. This is beneficial to extract relevant information from the system, which could be used for control, monitoring, service or maintenance of the industrial system. To ensure the reliability of online simulation, especially for dynamically changing behavior, an online adaption of the simulation models is necessary. Real process data and further observations should be used to track the real behavior with the online simulation. This requires metrics to compare simulation with reality, an appropriate triggering mechanism for the adaption, suitable parameter selection and estimation methods to determine optimal model parameters. There are a lot of mathematical tools, which could be considered to solve these problems. However, all of them have individual characteristics regarding their suitability for online simulation. This paper gives an overview of methods that are needed for online model adaption in form of a narrative review and assesses them based on their applicability for real-time online simulation. Furthermore, it addresses realization challenges and adaption of first-principle models. This work therefore provides a theoretical foundation for real-time model adaption for online simulation at machine level. © 2024 IEEE.

关键词： Smart manufacturing

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Cobot for Automated Vision Data: Streamlining Production with Automated Annotations for machine Learning

Cobot for Automated Vision Data: Streamlining Production wit...

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Artificial Intelligence, Computer, Data Sciences and Applications (ACDSA), International Conference on

作者： Manuel Zürn Marcel Dzubba Colin Reiff Samed Ajdinović Armin Lechler Alexander Verl Institute for Control Engineering of Machine Tools and Manufacturing Units University of Stuttgart Stuttgart Germany

Robotic vision tasks require a large amount of annotated data for effective training and performance. However, the manual creation of such datasets is a complex and time-consuming process. Particularly for smaller companies or those with high product variability, there is a need to optimise the resources dedicated to creating datasets for machine vision applications. This paper investigates novel ways to acquire annotated vision data through the integration of collaborative robots. Two methods are outlined to streamline the generation of annotated datasets. One of these methods is then used to construct a dataset tailored for 6D robotic gripping of an automotive connector. The effectiveness of automated annotated dataset generation is demonstrated by training a deep learning model to accurately estimate the orientation of the automotive connector.

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RTNNIgen – An Open-Source PLC Library and Python Generator Converting Keras Models to Realtime Capable Structured Text

RTNNIgen – An Open-Source PLC Library and Python Generator ...

引用

Annual Conference of Industrial Electronics Society

作者： Christoph Hinze Zexu Zhou Haijia Xu Armin Lechler Alexander Verl Institute for Control Engineering of Machine Tools and Manufacturing Units University of Stuttgart Stuttgart Germany

ISBN: (数字)9781665464543

ISBN: (纸本)9781665464550

Recent advances in AI research are boosting the relevance of realtime neural networks in automation technology. To facilitate the deployment of trained neural networks for realtime applications, where hard limits on upper cycle time are required, this paper contributed a two-fold approach: A Python library for parsing Keras sequential models to structured text using a single function-call, which can be run directly on industrial PLCs and a structured text library to encapsulate reoccurring code and to provide a readable, tested interface for the generated code. The resulting models are experimentally validated regarding their inference time and precision of the outputs.

关键词： Software design Runtime Computational modeling Neural networks Predictive models Libraries Hardware Data models Python Periodic structures

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Energy Efficiency of ROS Nodes in Different Languages: Publisher-Subscriber Case Studies

Energy Efficiency of ROS Nodes in Different Languages: Publi...

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Workshop on Robotics Software engineering (RoSE)

作者： Michel Albonico Paulo Júnior Varela Adair José Rohling Andreas Wortmann Paraná (UTFPR) Federal University of Technology Francisco Beltrão Brazil Institute for Control Engineering of Machine Tools and Manufacturing Units (ISW) University of Stuttgart Germany

ISBN: (数字)9798400705663

ISBN: (纸本)9798350365160

The Robot Operating System (ROS) is a de facto standard for programming robotic systems. It currently provides well-established client libraries for two major languages: $\mathrm{C}++$ and Python. Different programming languages are known for their different abstraction levels, and as a consequence, their resource usage, including energy consumption. With energy efficiency being recurrently a quality requirement, it is important to understand how programming in those two languages may affect the energy consumption of robotic systems. In this study, we analyze the impact on energy consumption when programming ROS nodes in those two main supported languages. We design and conduct an empirical experiment on ROS 2 nodes implemented in C++ and Python for simple and well-documented topic-based examples. We statistically assess to what extent energy consumption is affected by language choice, where nodes programmed in $\mathrm{C}++$ presented a consistently better energy efficiency. A deeper analysis of the measured variables indicates that the energy efficiency difference between the two client libraries is closely related to the underlying *** CONCEPTS• Software and its engineering → Software design tradeoffs; • Computer systems organization → Robotics; • Hardware → Impact on the environment.

关键词： Energy consumption Standards organizations Programming Energy efficiency Libraries Software Software measurement

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Edge-Cloud Automation of manufacturing machines: Analysis of Potential Designs and their Impact on the machine Performance 19

Edge-Cloud Automation of Manufacturing Machines: Analysis of...

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19th IEEE International Conference on Automation Science and engineering, CASE 2023

作者： Giani, Marco Tasci, Timur Wiener, Patrick Verl, Alexander Robert Bosch GmbH Robert-Bosch-Campus 1 Renningen71272 Germany The Institute for Control Engineering of Machine Tools and Manufacturing Units Seidenstrae 36 Stuttgart70174 Germany

ISBN: (纸本)9798350320695

The migration of industrial automation systems to an edge-cloud hosted on factory premises can reduce the operation costs of a manufacturing line and increase its flexibility thanks to computation scalability and use of cloud-native operation concepts. One limiting factor in the realization of edge-cloud automation systems (ECASs) lies in its operation mode over the network. This may result in tangible delays between the industrial process and the edge-cloud. This paper analyzes how the network delay affects the process performance of an industrial machine on the base of the real-time requirements of the control functions hosted in the edge-cloud. For this purpose, two potential scenarios for the migration of the control system of a real machine to the edge-cloud are implemented. Each scenario features the offloading of more real-time critical control functions to the edge-cloud, which is then tested under increasing load on the network. The study derives classes of automation functions according to the real-time requirements of a potential offloading to the edge-cloud. Furthermore, it shows how complementary designs of an ECAS can affect the performance of the automated systems. In this sense, the results reveal that firm real-time functions can be offloaded to the edge-cloud without any significant loss of performance even if non-real-time networking components are used. On the base of these results, potentials applications domains of ECASs are discussed prospectively and future work is proposed. © 2023 IEEE.

关键词： Automation

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