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...
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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.
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, par...
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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 thi...
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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.
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 dr...
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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...
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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, inexpen...
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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.
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 t...
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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.
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, consist...
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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...
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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.
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....
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