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21st International Conference on Production Research: Innovation in Product and Production, ICPR 2011

作者： Schlechtendahl, J. Haag, H. Eberspächer, P. Friedrich, J. Verl, A. Westkämper, E. Institute for Control Engineering of Machine Tools and Manufacturing Units University of Stuttgart Seidenstraße 36 Stuttgart70174 Germany Institute of Industrial Manufacturing and Management University of Stuttgart Nobelstraße 12 Stuttgart70569 Germany

ISBN: (纸本)9783839602935

Guaranteeing energy-efficient operation of production systems through a-priori optimization is an extremely complex task. We therefore propose an alternative approach where controls can decide locally if an energy reduction is possible and set components to energy-optimal states. In this paper we present results from the research group ECOMATION describing the information flow that generates energy control loops on different levels based on model information and an appropriate communication and control infrastructure. The communication mechanisms and control structures in production systems and machines are presented which allow using energy consumption values automatically and coherently on all required levels of detail and abstraction.

关键词： Energy efficiency

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Tracking control with hysteresis compensation for manipulator segments driven by pneumatic artificial muscles

Tracking control with hysteresis compensation for manipulato...

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2011 IEEE International Conference on Robotics and Biomimetics, ROBIO 2011

作者： Schreiber, Frank Sklyarenko, Yevgen Schlüter, Kathrin Schmitt, Jan Rost, Sven Raatz, Annika Schumacher, Walter Institute of Control Engineering Technische Universität Braunschweig 38106 Braunschweig Germany Institute of Machine Tools and Production Technology Technische Universität Braunschweig 38106 Braunschweig Germany National Technical University Donetsk Department of Control Systems and Mechatronics 83000 Donetsk Ukraine

ISBN: (纸本)9781457721373

In this paper a feedforward control structure is introduced for a manipulator joint driven by a symmetrical arrangement of two antagonistic muscles. The setup allows the specification of the desired joint angle, as well as the single muscle forces. Based upon the manipulator kinematic and the inverse static relation in a single muscle, the pressure signal for the muscles' supplying valves is calculated. Applying this control structure allows to compensate the nonlinear characteristic mean relation in a single muscle actuator, while the muscles' hysteretic behavior introduces a hysteresis in the relation between the desired and the actual joint angles. It is shown, that if the muscles are subject to comparable forces the resulting hysteretic behavior can be described by a Preisach model. The inverse of this model can then be applied as a feedforward term to compensate the static hysteretic behavior. Experiments confirm the improvement in tracking control as compared to the system solely controlled by a feedback regulator. © 2011 IEEE.

关键词： Muscle

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Erratum to “machine tool feed drives” [CIRP Ann. Manuf. Technol. 60 (2011) 779–796]

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CIRP Annals 2012年第2期61卷 837-837页

作者： Y. Altintas A. Verl C. Brecher L. Uriarte G. Pritschow Manufacturing Automation Laboratory University of British Columbia Vancouver Canada Institute for Control Engineering of Machine Tools and Manufacturing Units (ISW) Stuttgart Germany Machine Tool Laboratory (WZL) University of Aachen Germany Mechatronics Dept. – Tekniker-IK4 Eibar Basque Country Spain

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Model fusion via a master fuzzy system with special application to engineering materials

Model fusion via a master fuzzy system with special applicat...

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作者： Zhang, Qian Mahfouf, Mahdi Yates, John R. Pinna, Christophe Panoutsos, George Boumaiza, Soufiene Greene, Richard J. De Leon, Luis Department of Automatic Control and Systems Engineering University of Sheffield Sheffield S1 3JD United Kingdom School of Mechanical Aerospace and Civil Engineering University of Manchester M60 1QD United Kingdom Department of Mechanical Engineering University of Sheffield Sheffield S1 3JD United Kingdom Institute of Production Engineering and Machine Tools Leibniz University Hannover Germany

ISBN: (纸本)9783902661937

To improve the modelling performance, one should either propose new modelling methodologies or make the best of existing models. In this paper, the study is concentrated on the latter solution, where a structure-free modelling paradigm is proposed to combine various modelling techniques in 'symbiosis' using a 'master fuzzy system'. This approach is shown to be able to include the advantages of different modelling techniques altogether by minimising efforts relating optimisation of final structure. The proposed approach is then successfully applied to predict machining induced residual stresses for aerospace alloy components as well as mechanical properties of heat-treated alloy steels. © 2011 IFAC.

关键词： Fuzzy systems

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Model Fusion via a Master Fuzzy System with Special Application to engineering Materials

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IFAC Proceedings Volumes 2011年第1期44卷 11732-11737页

作者： Qian Zhang Mahdi Mahfouf John R. Yates Christophe Pinna George Panoutsos Soufiene Boumaiza Richard J. Greene Luis De Leon Department of Automatic Control and Systems Engineering The University of Sheffield Sheffield S1 3JD UK School of Mechanical Aerospace and Civil Engineering The University of Manchester M60 1QD UK Department of Mechanical Engineering The University of Sheffield Sheffield S1 3JD UK Institute of Production Engineering and Machine Tools Leibniz University Hannover Germany

Abstract To improve the modelling performance, one should either propose new modelling methodologies or make the best of existing models. In this paper, the study is concentrated on the latter solution, where a structure-free modelling paradigm is proposed to combine various modelling techniques in ‘symbiosis’ using a ‘master fuzzy system'. This approach is shown to be able to include the advantages of different modelling techniques altogether by minimising efforts relating optimisation of final structure. The proposed approach is then successfully applied to predict machining induced residual stresses for aerospace alloy components as well as mechanical properties of heat-treated alloy steels.

关键词： Fuzzy modelling Prediction problems Material Mechanical properties Steel

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Tracking control with Hysteresis Compensation for Manipulator Segments driven by Pneumatic Artificial Muscles

Tracking Control with Hysteresis Compensation for Manipulato...

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IEEE International Conference on Robotics and Biomimetics

作者： Frank Schreiber Yevgen Sklyarenko Kathrin Schluter Jan Schmitt Sven Rost Annika Raatz Walter Schumacher Institute of Control Engineering Technische Universitat Braunschweig Institute of Machine Tools and Production Technology Technische Universitat Braunschweig National Technical University Donetsk Department of Control Systems and Mechatronics

ISBN: (纸本)9781457721366

关键词： tracking control muscles control Architecture joint angle Hysteresis delay compensation Pressure Signal Device Component VALVE GATE Pneumatic Automobile driving

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Flow Rate Estimation Using Unscented Kalman Filter in Automatic Pouring Robot

Flow Rate Estimation Using Unscented Kalman Filter in Automa...

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SICE Annual Conference

作者： Yoshiyuki Noda Markus Birkhold Kazuhiko Terashima Oliver Sawodny Alexander Verl Department of Mechanical Engineering Toyohashi University of Technology Institute for Control Engineering of Machine Tools and Manufacturing Units (ISW) University Stuttgart Institute for System Dynamics (ISYS) University Stuttgart

ISBN: (纸本)9784907764388

We describe here a method for estimating the pouring flow rate for tilting-ladle-type automatic pouring robot used in casting industries. To precisely pour molten metal into the mold, controlling the flow rate of liquid flowing out of the ladle is mandatory. However, it is difficult to directly measure the pouring flow rate by using a conventional flow meter, because the flow meter is damaged by the high temperature molten metal. Therefore, in this study, we used a soft sensing technique as part of the pouring flow rate estimation system. The extended Kalman filter was applied to the flow rate estimation of the automatic pouring robot in previous study. The previous approach can be applied only the ladle with smooth shape, because of derivation of Jacobian matrix. However, some ladles with complicated shape which the Jacobian matrix cannot be derived have been used in an actual casting plant. In this paper, an unscented Kalman filter which does not need the Jacobian matrix is applied into the flow rate estimation. The effectiveness of the proposed flow rate estimation method is demonstrated through simulations and experiments.

关键词： Automatic pouring robot Unscented Kalman filter Flow rate estimation Foundry equipment

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ADAPTRONIC PRECISION POSITIONING TECHNOLOGY

ADAPTRONIC PRECISION POSITIONING TECHNOLOGY

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20th Reliability, Stress Analysis, and Failure Prevention Conference

作者： Pahlke, Achim Rosen, Simon Kaestner, Markus Moehring, Hans-Christian Reithmeier, Eduard Denkena, Berend Institute of Measurement and Automatic Control Hannover Germany Institute of Production Engineering and Machine Tools Hannover Germany

ISBN: (纸本)9780791849002

The adaptronic precision positioning technology is applied to the fitting of rotation-symmetric components such as gearwheels in a hard turning process in order to compensate eccentricity. Distorted gearwheels, showing e.g. a significant quench distortion, cause a malposition in the chuck during clamping. This malposition leads to low quality workpieces or scrap in the hard turning process. To compensate the malposition of the workpieces, a new technology for precision positioning within the rotating chuck is being researched. In the introduction, the motivation of the preceding research project "Allowance-oriented precision positioning" and the framework of the adaptronic precision positioning technology are summarized. Next part is the description of the system's components, beginning with the principles and the redesign of the mechatronic chuck. Completing the adaptronic precision positioning technology, the optical metrology, the data processing and automation aspects are shown in the following part. Afterwards, a short summary concludes this paper.

关键词： Clearances (engineering) Rotation Metrology Turning Fittings

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Enhancements of force-torque map based assembly applied to parallel robots

Enhancements of force-torque map based assembly applied to p...

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IEEE-ICIT 2010 International Conference on Industrial Technology, ICIT 2010

作者： Dietrich, Franz Wobbe, Frank Buchholz, Dirk Sowinski, Frank Raatz, Annika Schumacher, Walter Wahl, Friedrich M. Institute of Machine Tools and Production Technology Technische Universität Braunschweig 38106 Braunschweig Germany Institute of Control Engineering Technische Universität Braunschweig 38106 Braunschweig Germany Institute for Robotics and Process Control Technische Universität Braunschweig 38106 Braunschweig Germany

ISBN: (纸本)9781424456970

This article presents the application and enhancements of assembly strategies using force-torque maps in view of parallel robots. Starting from classical assembly strategies the fundamentals of force-torque maps are briefly discussed. Taking up the core idea, a strategy for assembling objects by parallel robots is proposed, where frictional effects are reduced by an enhanced force and position control. Special attention is paid to acquisition of force-torque maps with respect to parameter sensitivity. Practical issues are pointed out and discussed in view of industrial applications. A quality assessment of force-torque maps based on a redundancy index is introduced hinting at the performance and possibilities of optimization of the assembly strategy. ©2010 IEEE.

关键词： Position control

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Enhancements of force-torque map based assembly applied to parallel robots

Enhancements of force-torque map based assembly applied to p...

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IEEE International Conference on Industrial Technology (ICIT)

作者： Franz Dietrich Frank Wobbe Dirk Buchholz Frank Sowinski Annika Raatz Walter Schumacher Friedrich M. Wahl Institute of Machine Tools and Production Technology Technische Universitäat Braunschweig Brunswick Germany Institute of Control Engineering Technische Universitäat Braunschweig Brunswick Germany Institute of Robotics and Process Control Technische Universitäat Braunschweig Brunswick Germany

ISBN: (纸本)9781424456956

关键词： Robotic assembly Parallel robots Robustness Position control Uncertainty Collaboration Kinematics Robot programming Force control Quality assessment

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