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Aspects concerning the modeling of robots with increased dexterity 45

Aspects concerning the modeling of robots with increased dex...

Joint Conference of ISR 2014 - 45th International Symposium on Robotics and Robotik 2014 - 8th German Conference on Robotics, ISR/ROBOTIK 2014

作者： Lapusan, C. Fodor, F. Csiszar, A. Verl, A. Brisan, C. Department of Mechatronics and Machine Dynamics Technical University of Cluj-Napoca Cluj-Napoca Romania Graduate School of Excellence Advanced Manufacturing Engineering University of Stuttgart Germany Institute for Control Engineering of Machine Tools and Manufacturing Units University of Stuttgart Stuttgart Germany

ISBN: (纸本)9783800736010

Robotic structures have been a subject to continuous innovation since their presence. This paper presents a new approach to solve the inverse kinematics problem of the "HIDRA" (HIghDexterityRoboticArm). A SimMechanics trunk model has been developed based on which a position control algorithm will be developed. The published experimental results, coming from numerical simulations, validate the similarity of our kinematic model, and our new approach of determining the lengths of the bellows. This new approach presents the correlation between the physical characteristics and the elongation provided by variable air pressure. © VDE VERLAG GMBH Berlin Offenbach.

关键词： Inverse problems

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Autonomous Systems for Maintenance Tasks – Requirements and Design of a control Architecture

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Procedia Technology 2014年 15卷 595-604页

作者： Christian Friedrich Armin Lechler Alexander Verl Institute for Control Engineering of Machine Tools and Manufacturing Units Seidenstraße 36 Stuttgart 70174 Germany

The technological change of the maintenance process from reactive to preventive methods correlates with the awareness, that maintenance is not only a cost factor but a business process, which is part of the added value of a company. The automation of maintenance tasks allows to plan the operation optimally and fast. This creates a significant economic advantage for the manufacturing industry and is the opportunity for autonomous systems to show their potential. The following work gives an introduction into the possibilities to automate the maintenance process, suggestions and a probable concept architecture for automated services and maintenance.

关键词： Automated maintenance condition monitoring autonomous systems control architecture

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Model-based method for condition monitoring and diagnosis of compressors

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Procedia CIRP 2018年 72卷 1321-1326页

作者： Tim Engelberth Daniel Krawczyk Alexander Verl Institute for Control Engineering of Machine Tools and Manufacturing Units Seidenstr. 36 70174 Stuttgart Germany

In process industries, compressor plants provide process mediums with certain flows and pressures. Due to corrosion, wear and fouling, the plant behavior may change throughout the entire life cycle of several decades. This paper presents a new model-based method for condition monitoring and diagnosis of turbo compressors, in which the characteristic operating behavior is mainly influenced by fouling. The real-time capable method is implemented on a plant control unit and validated by Hardware-in-the-Loop simulation. Furthermore, the diagnostic result is used to automatically adapt the controller behavior. The presented approach increases the original system’s resource efficiency without reducing its robustness.

关键词： Diagnosis Condition monitoring Modelling Compressor Fouling

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Automatic Conformance Test Generation Based on a Verified Model of a Bus System Standard

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Procedia CIRP 2014年 25卷 305-312页

作者： Armin Lechler Tomas Macias Agus Atmosudiro Institute for Control Engineering of Machine Tools and Manufacturing Units Seidenstr. 36 Stuttgart 70174 Germany

In automation domain, the conformance of field bus devices in regard to the corresponding bus system standard is ensured by deploying conformance tests. The correctness of the tests is therefore decisive. A common practice to develop conformance test manually is fault-prone due to the fact that the test engineer can misinterpret the standard or the standard itself has defects. Therefore, in this present work we argue that a conformance test development should be based on formally verified requirements and propose an approach to automatically generate conformance tests based on the verified model of a bus system standard in order to assure the test correctness.

关键词： Model-based engineering Automatic test generation Conformance test

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Reduction of Support Structures and Building Time by Optimized Path Planning Algorithms in Multi-axis Additive Manufacturing

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Procedia CIRP 2018年 67卷 221-226页

作者： Daniel Coupek Jens Friedrich David Battran Oliver Riedel Institute for Control Engineering of Machine Tools and Manufacturing Units Seidenstr. 36 Stuttgart 70174 Germany

Additive manufacturing is an emerging technology that enables new product design. However, major inhibitors are long building times and a fixed build direction of the workpieces. In this article, new optimization and path planning methods for multi-axis additive manufacturing are presented going beyond conventional three-axis systems. This includes an adaptation of the building direction and an algorithm for the special case of cylindrical axes. These methods can reduce the production time drastically by avoiding support structures and by using the integration of predefined building blocks to substitute the infill. We present both, the new manufacturing process and the necessary computation methods for optimal process and path planning. Decreasing the building time and the amount of support structures paves the way for new application domains of additive manufacturing in the future.

关键词： Additive manufacturing Multi-axis Path planning Trajectory Support structures

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Introduction of an industrial transfer learning use case systematization for machine tools 56

Introduction of an industrial transfer learning use case sys...

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56th CIRP International Conference on Manufacturing Systems, CIRP CMS 2023

作者： Netzer, Markus Michelberger, Jonas Puchta, Alexander Verl, Alexander Fleischer, Jürgen wbk Institute of Production Science Karlsruhe Institute of Technology Kaiserstraße 12 Karlsruhe76131 Germany ISW Institute for Control Engineering of Machine Tools and Manufacturing Units Keplerstraße 7 Stuttgart70174 Germany

Traditional intelligent systems such as fault detection are mainly developed for isolated use on single machines and are mostly trained individually. A cross-machine knowledge transfer of intelligent systems holds an immense potential and can reduce implementation effort of intelligent systems. To enable a structured analysis of real-world transfer problems, an industry-relevant, far-reaching systematization of typical machine tool use cases is developed. This provides the overview over different typical use case classes from the industrial use case perspective. Based on the derived transfer criteria of each use case class, a conceptual approach of concrete transfer methods is proposed. © 2023 The Authors. Published by Elsevier B.V. This is an open access article under the CC BY-NC-ND license (https://***/licenses/by-nc-nd/4.0) Peer-review under responsibility of the scientific committee of the 56th CIRP International Conference on Manufacturing Systems 2023.

关键词： industrial transfer learning knowledge transfer machine tools Transfer learning transfer learning systemization

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Rent'n'Produce: A Social Media Platform for Cloud Manufacturing

Rent'n'Produce: A Social Media Platform for Cloud Manufactur...

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2017 4th International Conference on Smart Materials and Nanotechnology in engineering (SMNE 2017)

作者： Carsten Ellwein Oliver Riedel Institute for Control Engineering of Machine Tools and Manufacturing Units University of Stuttgart

Social media platforms have revolutionized communication and web-users behavior in the past. The cloud manufacturing paradigm is doing the same for job order and contract manufacturing in the present. This paper examines the similarities of both concepts and introduces a platform that can be perceived as a cloud manufacturing and a social media platform. Hereby, a more user-centered design was achieved to ensure user-acceptance.

关键词： Cloud manufacturing Social media

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View-dependent Virtual and Augmented Reality for machine tools

View-dependent Virtual and Augmented Reality for Machine Too...

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European Modelling Symposium

作者： Philipp Sommer Alexander Verl Institute for Control Engineering of Machine Tools and Manufacturing Units University of Stuttgart

ISBN: (纸本)9781509049721

In recent papers, the concept of an intelligent window for machine tools (iWindow) using virtual and augmented reality in order to replace traditional windows in machine tools was introduced. Such intelligent windows provide additional possibilities for observing the machine interior under difficult visibility conditions, combine and reduce the number of supporting systems and enrich the machine interior with contextual information. For creating a view-dependent virtual and augmented reality individual solution approaches presented in other research were combined, extended and applied to machine tools to form an intelligent window. For the impression of a real window and perspectively correctly overlay virtual objects, the operator's head position is tracked and the perspective projection matrix is calculated continuously. The necessary equations are presented. In an experimental setup, view-dependent rendering for virtual reality on opaque displays as well as augmented reality on transparent displays were validated. The rendering is performing well and an accurate overlay of virtual and real machine interior can be created. However, several difficulties regarding illumination, transparency and human stereo vision did occur. Possible improvements and solutions are suggested.

关键词： View-dependent rendering Virtual reality Augmented reality machine tools

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Real-Time Computation of the System Behaviour of Lightweight machines

Real-Time Computation of the System Behaviour of Lightweight...

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International Conference on Advances in System Simulation, SIMUL

作者： Peter Sekler Alexander Verl Institute of Control Engineering of Machine Tools and Manufacturing Units Stuttgart Germany

Lightweight design of production machines results in a problematically high inclination of vibration. Existing control techniques can avoid those vibrations based on the knowledge of the instantaneous system behavior, which is highly non-linear and dependent on the machine's pose. One possibility is to calculate the machine behavior using a model of the machine on the control device. This requires a real-time capable algorithm of system behavior identification calculated within the control device cycle. In this paper we describe a new approach for model-based system behavior calculation in real- time on the control device.

关键词： Real time systems Web server Load management Resource management Service oriented architecture Quality of service Petri nets Internet Computer architecture Formal specifications

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Implementation of an Intelligent System Architecture for Process Monitoring of machine tools 8

Implementation of an Intelligent System Architecture for Pro...

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8th CIRP Global Web Conference on Flexible Mass Customisation, CIRPe 2020

作者： Schmucker, B. Trautwein, F. Semm, T. Lechler, A. Zaeh, M.F. Verl, A. Boltzmannstr. 15 Garching b. München85748 Germany Institute for Control Engineering of Machine Tools and Manufacturing Units Seidenstr. 36 Stuttgart70174 Germany

State of the art machine tool controllers offer several Internet-of-Things (IoT) interfaces for machine data acquisition using industrial or edge computers. However, the available data exchange rates for these communication platforms are limited to a few hundred Hertz. As the data is not available in high frequency resolution, such a network communication is not suitable for monitoring and optimizing highly dynamic machining processes. This paper describes an efficient system architecture, which enables the acquisition of internal machine data as well as the high frequency sampling of external sensors. Based on this data, an Operational Modal Analysis (OMA) approach can be used to determine the tool tip dynamics during the machining process. Identification of tool tip frequency response requires the reconstruction of the excitation of the machine tool structure, i.e. the occurring machining forces. For this purpose, an approach relying on monitoring the commanded motor currents is applied. © 2020 Elsevier B.V.. All rights reserved.

关键词： Frequency response

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