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作者： Maaß, Jochen Reisinger, Thomas Hesselbach, Jürgen Schumacher, Walter Institute of Machine Tools and Production Technology Technical University Braunschweig Germany Institute of Control Engineering Technical University Braunschweig Germany

The features of the next generation robot control architecture based on the communication middleware MIRPA-X running on arbitrary PC with QNX real-time operating system, are discussed. The universal control system for robots considers the modularity and reusability in two layered design featuring a modular and open trajectory generator in the upper layer passing the desired Cartesian pose, velocities and accelerations and a subordinate drive controller located in the lower layer. A force or torque motion module and sensor module for describing the reusability, task-specific layer is given. The force or torque motion module allows a model based complaint motion control of an arbitrary degree of freedom by generating a fully qualified trajectory in the task formalism.

关键词： Robots

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Theoretical aspects of impedance controllers’ modularization 50

Theoretical aspects of impedance controllers’ modularizatio...

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50th International Symposium on Robotics, ISR 2018

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

ISBN: (纸本)9781510870314

This research paper depicts a modularization concept using a generic and parametrized model with purpose of development of impedance controllers for haptic interfaces designed with different topologies. Therefore, parametrization and modularization of several components within control scheme were necessary. Unambiguously, these parametrized components and modules need to be only configured for the requirements of haptic interface. The paper verifies the presented approach of generic model by using its customization for 1 and 6 Degrees of Freedom. © VDE VERLAG GMBH · Berlin · Offenbach

关键词： Haptic interfaces

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Automated provision and exchange of energy information throughout the production process 19

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19th CIRP Conference on Life Cycle engineering, LCE 2012

作者： Eberspächer, Philipp Haag, Holger Rahäuser, Raphael Schlechtendahl, Jan Verl, Alexander Bauernhansl, Thomas Westkämper, Engelbert Institute for Control Engineering of Machine Tools and Manufacturing Units University of Stuttgart Germany Institute of Industrial Manufacturing and Management University of Stuttgart Germany University of Stuttgart Germany

ISBN: (纸本)9783642290688

To ensure increasing energy efficiency in production it is necessary to aim for an energy optimal planning and control, consumption monitoring and efficiency evaluation of the entire production process. To achieve this goal an overall assessment, use and provision of existing energy information within the production process is compulsory along with the knowledge of possible adjusting levers to actually manipulate and reduce the energy consumption. Therefore an automated approach to provide and exchange energy information throughout the production process has been developed in the ECOMATION project as an energy information description language. Its definition, use and possible benefits are presented.

关键词： Energy efficiency

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Modelling of a Dual-Motor Robotic Drive with Estimation, Preload, and Guidance of Backlash 56

Modelling of a Dual-Motor Robotic Drive with Estimation, Pre...

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56th International Symposium on Robotics, ISR Europe 2023

作者： Kaiser, Benedikt Schäfer, Adrian Schütz, Andreas Parspour, Nejila Lechler, Armin Verl, Alexander Institute of Electical Energy Conversion University of Stuttgart Stuttgart70569 Germany Institute for Control Engineering of Machine Tools and Manufacturing Units University of Stuttgart Stuttgart70569 Germany

ISBN: (纸本)9783800761418

The dynamic behavior regarding gearing backlash is investigated for the application as a joint-drive in an articulated industrial robot equipped with a milling spindle. A dual-motor capable of electrical preload of drive train is presented and a lumped parameter model of dynamics is derived. The equations are presented as a switching state-space system depending on the contact state of backlash play. Based on the system description, an estimator is developed in order to obtain information about current backlash position. During a passage of backlash, caused by a change of torque, the adaptive preload control law according to the state of the art is not capable of improving dynamics resulting from the impact of closing the backlash gap. An additional guidance control is presented and implemented ensuring a smooth transition. The proposed design is validated by a dynamic simulation demonstrating the functionality and improvement of dynamics. © VDE VERLAG GMBH Berlin Offenbach.

关键词： Backlash Dual-Motor Dynamic Model Estimation Milling Preload Robotic Actuator Robotic Powertrain Robotics

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Design concept of an automated solid waste selection system 50

Design concept of an automated solid waste selection system

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50th International Symposium on Robotics, ISR 2018

作者： Boanta, Catalin Margaritescu, Mihai Verl, Alexander Brisan, Cornel Department of Mechatronics and Machine Dynamics Technical University of Cluj-Napoca Romania National Institute of Research and Development in Mechatronics and Measurement Technique Bucharest Romania Institute for Control Engineering of Machine Tools and Manufacturing Units Stuttgart Germany

ISBN: (纸本)9781510870314

The selective disposal of the solid waste represents one of the modern problems of the middle and low income cities around the globe, a problem that generates environmental hazards if it is not properly managed. Since the selective collection of the waste is still far to be achieved on a large scale, an automated selection of the waste could overcome the environmental problems generated by landfill sites. This paper presents the concept of an automated solid waste selection system composed by several sub-systems: a transportation network (a set of conveyors), an image recognition system to identify the type of transported solid waste and a waste robot disposal system that selectively grabs the unsorted waste items. Besides this, a waste disposal algorithm is developed as task planning for the robot disposal system. © VDE VERLAG GMBH · Berlin · Offenbach

关键词： Solid wastes

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A beam monitoring system for large and scanned laser spots - Lasmon

A beam monitoring system for large and scanned laser spots -...

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30th International Congress on Applications of Lasers and Electro-Optics, ICALEO 2011

作者： Hannweber, Jan Galant, Alexander Bonß, Steffen Brenner, Berndt Beyer, Eckhard Fraunhofer Institute for Material and Beam Technology IWS Dresden Winterbergstrasse 28 01277 Dresden Germany University of Technology Institute of Machine Tools and Control Engineering 01062 Dresden Germany

A novel monitoring system for large, formed and scanned high power laser beams will be presented. Such laser beams are particular used in industrial laser hardening processes. The system design is very simple, inexpensive and easily adaptable. The software makes it possible to identify all standard beam parameters e.g. the beam parameter product, power density distribution, Rayleigh length and FWHM. In addition, functions specifically for laser beam hardening are provided. Some significant applications are in the area of quality and process control, such as the determination of the distribution of the laser beam intensity after passing high frequency scanning systems. Beyond that, the system is the key for monitoring the necessary input data of the heat treatment simulation process. The state of development of a real 3D laser hardening simulation tool is also presented. As a result the theoretical and experimental influence of different laser beam shapes to the hardening parameters is discussed.

关键词： Laser beams

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Motion superimposition for machine tool trajectories using asynchronous axis interpolation ⁎

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IFAC-PapersOnLine 2019年第10期52卷 300-305页

作者： T. König A. Verl A. Lechler Institute for Control Engineering of Machine Tools and Manufacturing Units (ISW) University of Stuttgart Germany

This paper presents a method for reducing non-productive times in the planning and interpolation of lift movements during 2.5D machining. At the moment, this mostly vertical lift movement is executed separately from the position changing in the operating plane. This sequential processing of motions increases the non-productive time in processes with frequent changes of operating height, such as laser cutting. The reduction is realized by superimposing the planar path movements with lift motion. An asynchronous axis interpolation is applied to make use of the maximum machine dynamics. In addition, known obstacles can be taken into account by further parameters in the planning.

关键词： machine tools productivity simultaneous processing lift movement path optimization non-productive time reduction asynchronous interpolation

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Comparison of 3D shape reconstruction methods for fiber-optic sensors 50

Comparison of 3D shape reconstruction methods for fiber-opti...

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50th International Symposium on Robotics, ISR 2018

作者： Riehs, Christopher Kleiner, Bernhard Schneider, Urs Verl, Alexander Graduate School of Excellence advanced Manufacturing Engineering Stuttgart Germany Fraunhofer Institute for Manufacturing Engineering and Automation IPA Stuttgart Germany Institute for Control Engineering of Machine Tools and Manufacturing Units University of Stuttgart Germany

ISBN: (纸本)9781510870314

A comparison of two methods for the 3D shape reconstruction of a new kind of fiber-optic sensor using Fiber Bragg Gratings (FBG) is presented. The sensors, developed at the Fraunhofer Heinrich-Hertz-institute, consists of FBGs written in the cladding of a standard 125 µm fiber. In this way, simple and cost efficient bending sensors can be produced. Shape reconstruction strategies using a single fiber, that was actively moved along an path, which shape was reconstructed, and with a fiber, that was resting, were investigated. The achievable accuracy of both methods was compared with an experimental setup. © VDE VERLAG GMBH · Berlin · Offenbach

关键词： Fiber optic sensors

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Cloud vs. peer-to-peer manufacturing: a comparative case study

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Procedia CIRP 2023年 119卷 993-998页

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

Cloud Manufacturing (CM) applies the concept of manufacturing-as-a-service and offers access to production resources over web-based platforms. Besides centralized CM platforms, the manufacturing-as-a-service principle has been proposed to be integrated in production planning and control systems, creating a decentralized peer-to-peer (P2P) manufacturing paradigma. This paper applies the case study methodology to deduce procurement processes via cloud or P2P manufacturing and to compare them in regard of cost, quality and time. It can be shown that decentralized approaches can outperform centralized CM implementations and that a higher degree of integration into the office floor is mostly beneficial.

关键词： Cloud Manufacturing Peer-to-Peer-Manufacturing Enterprise Resource Planning Production Planning and control

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Resulting Artifacts and Application Scenarios of the Communication Intermediate Layer SFCS with A Focus on Usability for the Automation Industry 4

Resulting Artifacts and Application Scenarios of the Communi...

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4th IEEE International Conference on Knowledge Innovation and Invention, ICKII 2021

作者： Strljic, Matthias Milan Prokop, Eric Saueressig, Sebastian Riedel, Oliver Institute for Control Engineering of Machine Tools and Manufacturing Units University of Stuttgart Stuttgart Germany Sotec Software Entwicklungs GmbH Smart Connected Systems Stuttgart Germany

ISBN: (纸本)9781665423076

Due to the influence of the digital transformation, communication between individual shop-floor components is changing more dynamic communication patterns and development platforms such as messaging and microservices. For a user-friendly entry into these interaction patterns, the research project SFSC (Shop-Floor Service Connector) created a communication layer that makes it easier for users from the automation sector and abstracts infrastructure aspects, such as a service registry, from the user in order to simplify the transformation for employees from the automation sector. For this purpose, the integrated messaging pattern publish/subscribe, request/reply, and channels with the SFSC architecture have already been presented in previous work. This architecture has now been extended with a microcontroller implementation and a deployment environment and finally validated with a demonstrator, which is presented with its performance results. The validation environment consists of a CNC milling cell, supplying assembly lines, a camera-based quality control, and a handling robot arm. Application scenario-typical data flow for data integration is mapped with the help of the PLC4X project and data-driven value-added services are realized and connected based on these. © 2021 IEEE.

关键词： Data integration

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