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A Nonlinear Elasticity Model and Feedforward Compensation Method to Increase Positioning Accuracy of Industrial Robots

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IEEE Transactions on Automation Science and engineering 2025年 22卷 16168-16184页

作者： Dzubba, Marcel Neubauer, Michael Hinze, Christoph Lechler, Armin Verl, Alexander University of Stuttgart Institute for Control Engineering of Machine Tools and Manufacturing Units Stuttgart70174 Germany

Large industrial robots are inexpensive compared to their workspace. Due to flexibility, the positioning accuracy is compromised. This paper presents a simple yet effective static calibration method for robots using a laser tracker that can be applied to processes with no change in external load and without high processing forces. The calibration method is based on a novel elastokinematic model that captures the nonlinear gearbox and link compliance and also accounts for the effects of pose dependent joint friction and nonlinearities due to the gravity compensation mechanism. Furthermore, a feedforward concept is presented that separates kinematics from compliance to reduce computation time. The calibration method was implemented on industrial hardware and experimentally validated on a KUKA KR210–2. In comparison to state of the art compliance modeling, accuracy is improved by 23.1 %. Finally, the feedforward model reduces the mean positioning error in the entire workspace by 54.9% compared to the purely kinematically calibrated model, emphasizing the need for compliance compensation. © 2004-2012 IEEE.

关键词： Kinematics

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Study on Available Cloud manufacturing Platforms for CNC Milling Processes 4

Study on Available Cloud Manufacturing Platforms for CNC Mil...

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4th IEEE Eurasia Conference on IoT, Communication and engineering, ECICE 2022

作者： Strljic, Matthias Milan Bakovic, Aleksandar Riedel, Oliver Institute for Control Engineering of Machine Tools and Manufacturing Units University of Stuttgart Stuttgart Germany

ISBN: (纸本)9781665482080

CNC milling processes represent the main group of production processes for components with a non-trivial surface geometry that are either brittle or have a material with a high melting point or have sensitive requirements for the manufacturing tolerances. Thus, a study was conducted on the adoption of CNC milling processes in the cloud manufacturing segment, highlighting the range of functions provided as well as the unit prices. In the process, multiple application scenarios were addressed via part enquiries to be manufactured, which have different technical requirements for the CNC milling machine cell to be manufactured. Thus, components were designed that require at least three, four, or five synchronous axes for production. In addition, components with geometric properties were added that can be realized either on a 4-axis system or on a 3-axis system with a reclaiming process. For the evaluation, 50 platform providers were researched via a structured search, which were filtered through an automated ordering process, accessibility, and available materials to a final eleven platforms to be evaluated. On these platforms, a total of 55 application scenarios were then compared in terms of their performance with the application of 22 evaluation criteria. After a weighted evaluation of the results, recommendations were made for component requests from identified groups in terms of geometry complexity, material, and number of pieces that resulted from the analysis. © 2022 IEEE.

关键词： Milling (machining)

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Reflection-based Prototyping Framework for OPC UA Servers for Companion Specifications

Reflection-based Prototyping Framework for OPC UA Servers fo...

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IEEE International Conference on Industrial Technology (ICIT)

作者： Moritz Walker Christian von Arnim Michael Neubauer Armin Lechler Oliver Riedel Alexander Verl Institute for Control Engineering of Machine Tools and Manufacturing Units (ISW) University of Stuttgart Stuttgart Germany

Domain-specific Companion Specifications (CS) define OPC UA information models for specific use cases, devices, or industries and define how to use OPC UA in specific environments. A sample OPC UA server is required to evaluate an OPC UA CS and develop clients. Such a server needs to be easily changed on updates of the CS and must ensure that all instances comply with the specified OPC UA types. This paper introduces an OPC UA server prototyping framework that maps OPC UA instances to $\mathbf{C++}$ data types using reflection. Using OPC UA types for instantiation, all created instances comply with the CS. The mapping to $\mathbf{C++}$ data structures provides a simplified API for handling sample instances by enabling users with limited knowledge about OPC UA to build CS-conformant servers. Four use cases show the usefulness of the approach: OPC UA Events, OPC UA PubSub and creating CS compliant servers.

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A Virtual Assistant System for the Requirements Elicitation and Initial Simulation Model Variant Generation of Modular Industrial Plants 28

A Virtual Assistant System for the Requirements Elicitation ...

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28th International Conference on Mechatronics and machine Vision in Practice, M2VIP 2022

作者： Tinsel, Erik-Felix Riedel, Oliver Institute for Control Engineering of Machine Tools and Manufacturing Units University of Stuttgart Stuttgart Germany

ISBN: (纸本)9798350334333

Errors during the commissioning of machines and plants are costly and time-consuming. Costs increase the later an error is discovered in the development process. The earliest occurring errors can already result from insufficient coordination with the customer. This paper presents the ongoing research on a virtual assistance system designed to bridge the gap between the early requirements phase and the virtual commissioning of modular plants by creating interfaces for customers allowing them to outline their project, validate it by themselves and be actively integrated in the process of the virtual plant creation. © 2022 IEEE.

关键词： Errors

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Safeguarded Continuous Deployment of control Containers through Real-Time Simulation

Safeguarded Continuous Deployment of Control Containers thro...

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International Conference on Emerging Technologies and Factory Automation (ETFA)

作者： Moritz Walker Lars Klingel Stefan Oechsle Michael Neubauer Armin Lechler Alexander Verl Institute for Control Engineering of Machine Tools and Manufacturing Units (ISW) University of Stuttgart Stuttgart Germany

Static configurations and slow adaption to changing requirements characterize today’s production systems. In order to cope with variable external influences, these systems need to become more flexible. One building block towards meeting this requirement from the software perspective is employing quality-preserving processes to develop and update automation applications. While this condition applies to classical automation applications, it is increased if Software-defined manufacturing (SDM) is applied. Containers can be used to deploy software through orchestration. Orchestration covers initial deployment and the roll-out of new software versions. This makes it in theory possible to deploy automation applications, such as computerized numerical control (CNC) software. However, available tools from information technology cannot be used to orchestrate and update automation applications, as real-time requirements must be considered. This work presents an approach that supports orchestration, specifically the deployment and update process, of real-time containers safeguarded by real-time capable simulation coupled with the control system during the operation phase. It shows how to achieve the right timing for real-time software updates and how to prevent causing damage by observation and safeguarding through information obtained from the real-time simulation. Using real-time simulation in the operating phase, container-based control and real-time orchestration become safer and more applicable in industrial manufacturing systems.

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Toward Automating the Composition of Digital Twins Within System-of-Systems 29

Toward Automating the Composition of Digital Twins Within Sy...

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29th IEEE International Conference on Emerging Technologies and Factory Automation, ETFA 2024

作者： Gill, Milapji Singh Zhang, Jingxi Wortmann, Andreas Fay, Alexander Institute of Automation Technology Helmut Schmidt University Hamburg Germany Institute of Control Engineering of Machine Tools and Manufacturing Units University of Stuttgart Germany Automation Ruhr University Bochum Germany

ISBN: (纸本)9798350361230

Cyber-Physical Production Systems necessitate efficient configuration and continuous reconfiguration to adapt to evolving requirements and shifting goals. This process involves integrating various system structures to derive new functions and behaviors. The concept of the Digital Twin, which allows for effective integration and testing, is instrumental in facilitating this task. However, a fundamental prerequisite is that Digital Twins of individual system components must be composed efficiently and in accordance with dynamic System-of-Systems. We address this challenge by introducing an approach for the automated horizontal and vertical composition of Digital Twins, aimed at minimizing manual intervention and enhancing adaptability. Therefore, a pipeline specifically designed for this goal is proposed, which includes the generation of new functions and behaviors. This approach is intended to provide a foundation for future research. © 2024 IEEE.

关键词： System of systems

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Requirements and Challenges in the Configuration of a Real-Time Node for OPC UA Publish-Subscribe Communication

Requirements and Challenges in the Configuration of a Real-T...

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International Conference on Mechatronics and machine Vision in Practice (M2VIP)

作者： Rebekka Neumann Christian von Arnim Michael Neubauer Armin Lechler Alexander Verl Institute for Control Engineering of Machine Tools and Manufacturing Units (ISW) University of Stuttgart Stuttgart Germany

Factory automation is evolving from a hierarchical structure towards an interconnected architecture in which systems at different levels can communicate seamlessly with each other. This requires an appropriate replacement of proprietary fieldbus systems in the automation sector. A promising solution to implement cross-plane end-to-end real-time capable communication between computing nodes is proposed in literature. The usage of Open Platform Communication Unified Architecture (OPC UA) as the information model with the Publish-Subscribe (PubSub) communication mechanism in combination with Time Sensitive Networking (TSN) is presented to fulfill the requirements for message transmission. In contrast to the state of the art of configuring fieldbus systems, the configuration of such a real-time communication node has to be done manually. This process is complex, as deep knowledge in different domains is required. In this work we elaborate the requirements for such a communication node and present the resulting implementation challenges, which can be used as the basis for a configuration tool.

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Simulation-Based Predictive Real-Time Collision Avoidance for Automated Production Systems

Simulation-Based Predictive Real-Time Collision Avoidance fo...

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IEEE International Conference on Automation Science and engineering (CASE)

作者： Lars Klingel Alexander Heine Steven Acher Niklas Dausend Alexander Verl Institute for Control Engineering of Machine Tools and Manufacturing Units (ISW) University of Stuttgart Stuttgart Germany

The usage of simulation technology is deeply established in the development and commissioning of automated production systems. Impending collisions of moving kinematics, such as robots, can therefore already be detected with the help of simulations before the production system goes into operation. However, changes in the control software of production systems that occur in the operating phase are often not secured, which entails risk, especially in the age of cyber-physical and adaptive production systems. This work presents a predictive simulation-based approach for the online collision avoidance of automated production systems by enabling virtual commissioning simulations for the application in the operating phase. This allows a cost-efficient way to achieve the safe operation of production systems without the need of additional configurations and sensors.

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Isolating Shared Resources for Time-Triggered Networking of Containerized Applications

Isolating Shared Resources for Time-Triggered Networking of ...

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International Conference on Mechatronics and machine Vision in Practice (M2VIP)

作者： Christian von Arnim Moritz Walker Armin Lechler Oliver Riedel Alexander Verl Institute for Control Engineering of Machine Tools and Manufacturing Units (ISW) University of Stuttgart Stuttgart Germany

Multiple real-time applications can share a real-time network using the Time Division Multiple Access (TDMA) scheme. For TDMA to be effective, each real-time application respects or is forced to respect its assigned network access slots. Container-based virtualization is one way of using common hardware for real-time applications. However, while methods for time isolation of computing resources such as CPU, memory bandwidth, and cache are available, there is still a lack of mechanisms for node-level network access isolation of multiple containers sharing a TDMA-based real-time network. This work qualitatively and quantitatively compares five approaches for achieving shared network resources for time-triggered real-time applications using prototypical implementations. Approaches compared include mandatory access control, proxying, iptables, extended Berkeley packet filtering, and virtualized process sand-boxing.

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Evaluation of Isolation and Communication Mechanisms for Real-Time Containers

Evaluation of Isolation and Communication Mechanisms for Rea...

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IEEE International Symposium on Industrial Electronics (ISIE)

作者： Moritz Walker Marc Fischer Armin Lechler Alexander Verl Institute for Control Engineering of Machine Tools and Manufacturing Units (ISW) University of Stuttgart Stuttgart Germany

The use of lightweight methods for virtualization has potential for control technology, such as increased update rates and an extension of control systems with value-added services. A programmable logic controller (PLC) is no longer a closed system but extensively offers interfaces to the outside. The trends towards decentralization, highly flexible systems, and a flattening of the automation pyramid create new requirements that classic control architectures need to meet. In this context, a high degree of integration between components with simultaneous temporal and spatial isolation is crucial. This paper addresses the conception of an isolation mechanism for the extension of the control functionality by value-added services. The basis for this is a combination of a partitioning hypervisor and software containers, which was chosen based on an evaluation of current isolation mechanisms for container solutions. Different messaging-based approaches with a common API for communication between components are developed and evaluated.

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