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International Workshop on Advanced Motion control (AMC)

作者： Christian Scheifele Armin Lechler Christian Daniel Weiliang Xu Institute for Control Engineering of Machine Tools and Manufacturing Units Stuttgart Germany ISG Industrielle Steuerungstechnik GmbH Stuttgart Germany Department of Mechanical Engineering The University of Auckland Auckland New Zealand

In this paper a solution is presented, which extends the network of non-real-time-capable ROS nodes (Robot Operating System) by a modular network of configurable and real-time-capable blocks with control and path planning functionalities. By means of this solution, ROS can be coupled with real-time algorithms from the field of industrial path planning controls, such as spline interpolation (e.g. Akima, B-spline). Furthermore, the real-time network can communicate directly with industrial hardware via real-time bus protocols established in the industrial automation technology. The available engineering-tool allows to model the real-time network in a user-friendly way. Custom real-time blocks can be generated from C++ code.

关键词： Real-time systems Computer numerical control Path planning Service robots Interpolation Mobile communication

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Experimental validation of energy consumption model for the four-wheeled omnidirectional Mecanum robots for energy-optimal motion control

Experimental validation of energy consumption model for the ...

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International Workshop on Advanced Motion control (AMC)

作者： Li Xie Wolfgang Herberger Weiliang Xu Karl A. Stol The University of Auckland Auckland Auckland NZ Institute for Control Engineering of Machine Tools and Manufacturing Units University of Stuttgart Stuttgart Germany Department of Mechanical Engineering University of Auckland Auckland New Zealand

The Mecanum wheel, due to its omnidirectional mobility and heavy-duty transporting ability on the ground plane, is widely applied in the industry. However, the Mecanum wheel trades off energy efficiency for maneuverability. This paper proposes a novel energy consumption model of the four-wheel omnidirectional Mecanum mobile robots. The model is built based on a comprehensive understanding of the kinematics, dynamics, and energy flow of the Mecanum mobile robot. The energy consumption model has been mathematically implemented in MATLAB, and experimentally validated on Auckbot, the Mecanum mobile robot, developed in our lab. Simulation and experimental results show that for omnidirectional motion primitives on the ground plane, the energy consumption model has over 98% accuracy. This proposed energy consumption model is essential to the energy-optimal motion planning for the Mecanum mobile robot.

关键词： Wheels Mobile robots Friction Energy consumption Force Mathematical model

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Automation of the casting process using a model-based NC architecture 4

Automation of the casting process using a model-based NC arc...

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4th IFAC Workshop on Mining, Mineral and Metal Processing, MMM 2015

作者： Birkhold, M. Friedrich, C. Lechler, A. Institute for Control Engineering of Machine Tools and Manufacturing Units Seidenstrasse 36 Stuttgart70174 Germany

Automation of the casting process in foundries is most commonly limited to foundry lines for series manufacturing. The employed teach-in method for programming the process is time-consuming and, therefore, only suited for large lot sizes. Thus, manufacturing of small lot sizes or single parts still necessitates the handwork and expertise of workers pouring the molten metal into the mould. This creates a dangerous environment for the worker. In recent years researchers have developed a model-based process control, which allows precise casting control without having to previously teach the process. Usage of these process models has been limited to special process control systems, specifically designed for a certain machine. In this paper, a novel approach is presented, in which a NC (Numerical control) system is enhanced by process models. Instead of programming the NC in kinematic coordinates, it will be shown that programming in process coordinates allows robust and flexible casting, even for small lot sizes. The paper will prove the feasibility of the approach by evaluation of the processing time of the model. © 2015, IFAC (International Federation of Automatic control) Hosting by Elsevier Ltd. All rights reserved.

关键词： Foundries

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Selective rotor Assembly Using Fuzzy Logic in the Production of Electric Drives

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Procedia CIRP 2015年 33卷 550-555页

作者： Daniel Coupek Aybike Gülec Armin Lechler Alexander Verl Institute for Control Engineering of Machine Tools and Manufacturing Units (ISW) Seidenstraße 36 70174 Stuttgart Germany

The growing sector of sustainable mobility requires an increasing number of electric drives for automobiles, thus increasing the need for their efficient mass production. In current production scenarios, End-Of-Line (EOL) inspection is applied to determine the quality of the assembled final product. The work presented in this paper is developed in the project MuProD, which aims at developing an innovative quality control system to change the current concept of EOL quality control. The case under investigation is the production of electric drives where the rotor is composed of several magnetized stacks. The magnetic properties of each stack differ due to variations of the single magnets and the magnetization process itself. In addition, handling of the magnets within the production line may cause cracks that decrease the strength of the magnetic field. This paper proposes a new solution for deviation compensation in the production of electric drives by selective assembly based on a crisp classification and a Mamdani style fuzzy inference system. The magnetic field of each stack is measured after the magnetization stage, yielding a discrete space-resolved magnetic profile. This magnetic profile is transformed into another feature space through a combination of feature selection and feature extraction to reduce the dimension. Based on these new features, the stacks can be classified into crisp sets. In the second part, an appropriate fuzzy rule base for the matching of the stacks is developed to obtain a uniform magnetic field of the rotor. By applying this assembly strategy, the rotor and consequently the final motor reaches desired quality targets although deviations in the single stacks are present. The benefits of the approach are validated within an industrial context.

关键词： Assembly Fuzzy logic Drive Selecvtive assembly Feedforward control

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Using game physics engines for hardware-in-the-loop material flow simulations: benefits, requirements and experiences

Using game physics engines for hardware-in-the-loop material...

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IEEE/ASME (AIM) International Conference on Advanced Intelligent Mechatronics

作者： Philipp Neher Armin Lechler Institute for Control Engineering of Machine Tools and Manufacturing Units (ISW) University of Stuttgart Stuttgart Germany Chief Engineer for Institute for Control Engineering of Machine Tools and Manufacturing Units (ISW) University of Stuttgart Stuttgart Germany

Object of this paper is the proposal of using existing physics engines mainly deployed in video games and movie animations for simulating material flow applications with a high degree of reality. Since the actual control systems are supposed to be tested and verified using this simulation it has to possess real-time capabilities for usage with a hardware-in-the-loop simulation setup. This paper illustrates why such a simulation is necessary concerning the considered application. In addition, the required work items to achieve this approach are presented. During the realization, encountered problems and obstacles are commented on as well.

关键词： Engines control systems Real-time systems Kinematics Mathematical model Kernel

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Flexible and Modular control and manufacturing System

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Procedia CIRP 2015年 33卷 115-120页

作者： Jens Friedrich Stefan Scheifele Alexander Verl Armin Lechler Institute for Control Engineering of Machine Tools and Manufacturing Units (ISW) University of Stuttgart Seidenstraße 36 70174 Stuttgart Germany

The trend in production industry is going away from mass-produced products, towards individual products, which are adapted to the customer requirements. Thus flexible, modular production systems that can be adapted to individual use-cases are necessary. Within this paper, a flexible and modular control for a modular production system with the ability to use manufacturer-independent functions and modules is proposed. A new approach for a standardized description and an open interface for functions and modules is developed. This includes a decentralized control system architecture. The self-configuring control system identifies all functions and modules automatically and a specifically defined memory set (the CIMory data) is used to enable the self-configuration of the control system. Combining a real-time bus system and a SOA-based communication enables the decentralized approach of a future cloud based control system architecture.

关键词： customized products flexible and modular production system (FMPS) self-configuring control system

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Automation of the Casting Process using a model-based NC Architecture

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IFAC-PapersOnLine 2015年第17期48卷 195-200页

作者： M. Birkhold C. Friedrich A. Lechler Institute for Control Engineering of Machine Tools and Manufacturing Units Seidenstrasse 36 70174 Stuttgart DE (Tel: +49-711-685-84502)

关键词： Casting process model-based control pouring control

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Heavy-duty omni-directional Mecanum-wheeled robot for autonomous navigation: System development and simulation realization

Heavy-duty omni-directional Mecanum-wheeled robot for autono...

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International Conference on Mechatronics (ICM)

作者： Li Xie Christian Scheifele Weiliang Xu Karl A. Stol Department of Mechanical Engineering University of Auckland Auckland New Zealand Institute for Control Engineering of Machine Tools and Manufacturing Units University of Stuttgart Stuttgart Germany

A Mecanum-wheeled robot benefits from great omni-direction maneuverability. However it suffers from random slippage and high-speed vibration, which creates electric power safety, uncertain position errors and energy waste problems for heavy-duty tasks. A lack of Mecanum research on heavy-duty autonomous navigation demands a robot platform to conduct experiments in the future. This paper introduces AuckBot, a heavy-duty omni-directional Mecanum robot platform developed at the University of Auckland, including its hardware overview, the control system architecture and the simulation design. In particular the control system, synergistically combining the Beckhoff system as the controller-PC to serve low-level motion execution and ROS as the Navigation-PC to accomplish highlevel intelligent navigation tasks, is developed. In addition, a computer virtual simulation based on ISG-virtuos for virtual AuckBot has been validated. The present status and future work of AuckBot are described at the end.

关键词： Wheels Navigation Mobile robots Robot sensing systems Mathematical model Vibrations

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EcoBotics: Advantages and challenges of building a bamboo robot arm

EcoBotics: Advantages and challenges of building a bamboo ro...

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IEEE International Conference on Industrial Technology (ICIT)

作者： Akos Csiszar Philipp Sommer Armin Lechler Graduate School of Excellence University of Stuttgart Stuttgart Germany Institute for Control Engineering of Machine Tools and Manufacturing Units University of Stuttgart Stuttgart Germany

Sustainability and sustainable development concepts are frequently the driving force for research related to optimizing energy consumption and material use in order to reduce the carbon footprint for different products. EcoBotics aims to analyse the question of sustainability in the area of robotics. In this paper, as a first example of EcoBotics, it is examined what are the advantages and challenges of exchanging the aluminium structure of lightweight robot arms with a sustainable material. Bamboo is used in order to exemplify a sustainable material, but the challenges and the proposed solutions for open problems are valid for any material causing a robot structure with low stiffness.

关键词： Service robots Robot kinematics Aluminum Couplings Payloads Carbon

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Quality-oriented Design of Rotor Assembly Strategies for Electric Drive Production Systems

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Procedia CIRP 2015年 36卷 141-146页

作者： Marcello Colledani Anteneh Yemane Daniel Coupek Armin Lechler Politecnico di Milano Mechanical Engineering Department Via la Masa 1 20156 Milano Italy Institute for Control Engineering of Machine Tools and Manufacturing Units (ISW) Seidenstraße 36 70174 Stuttgart Germany

Electric mobility is an emerging industrial sector that requires innovative quality control methods as common manufacturing and testing methods of combustion engines cannot be transferred directly to electric motors. This paper presents new solutions for the quantitative evaluation of quality-oriented rotor assembly strategies in electric drive production systems. The proposed methods assist the analysis of productivity and quality performance of two different assembly strategies namely selective assembly and sequential assembly. The impacts of these approaches are validated within a real industrial context, where state of the art quality and process control technologies show strong limitations. Experimental results have shown that the application of the proposed strategies yield a significant improvement in the production rate of conforming parts of the system. Moreover, the general applicability of these approaches to similar industrial problems encourages their adoption for defect reduction and elimination thus paving the way to zero-defect manufacturing paradigm.

关键词： Product Quality Defect elimination Electric drive assembly strategy

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