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International Asia Conference on Informatics in control, Automation and Robotics, CAR

作者： Dongsheng Yang Alexander Verl Stefan Schmitz Karl-Heinz Wurst School of Mechanical Engineering and Automation Beijing Aeronautics and Astronautics University Beijing China Institute of Control Engineering of Machine Tools and Manufacturing Units (ISW) University of Stuttgart Stuttgart Germany

ISBN: (纸本)9781424451920;9781424451937

This paper presents the analysis and implementation of a new communication system, which uses the DC link cable as a communication channel to reduce electrical interfaces and save cables. The channel characteristics are investigated to determine the carrier frequency and the bandwidth. To deal with the disturbance and signal fading, coded Orthogonal Frequency Division Multiplex (OFDM) is used as means of modulation/demodulation. A field test system is established. The test results show that it achieves a high performance with regard to the industrial standards.

关键词： Mechatronics Communication cables Communication channels Bandwidth Fading Frequency division multiplexing Modulation coding OFDM modulation Demodulation System testing

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On contact models for assembly tasks: Experimental investigation beyond the peg-in-hole problem on the example of force-torque maps

On contact models for assembly tasks: Experimental investiga...

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2010 IEEE/RSJ International Conference on Intelligent Robots and Systems

作者： Franz Dietrich Dirk Buchholz Frank Wobbe Frank Sowinski Annika Raatz Walter Schumacher Friedrich M. Wahl Institute of Machine Tools and Production Technology Technische Universitäat Braunschweig Brunswick Germany Institut für Robotik und Prozess informatik Technische Universitäat Braunschweig Brunswick Germany Institute of Control Engineering Technische Universitäat Braunschweig Brunswick Germany

Force guided assembly is attractive but the implementation is challenging when uncertainties are present. In these cases, contact models that guide the assembly process are attractive. This article elaborates the usage of static contact models, which map displacements to force-torque vectors of particular contact situations (force-torque map). This model, a map of discrete points, contains force and torque values that correspond to position errors. The inversion of this map, using forces and torques measured from an assembly attempt, yields correction movements in order to accomplish the assembly iteratively. A hypothesis stating the dependency of the model's quality on its injectivity is investigated. This aspect is studied thoroughly in so-called redundancy maps, which reveal regions of considerable ambiguity of the model. Experimental results are presented, which validate the hypothesis about the dependency of the convergence of the assembly process on the ambiguity of the initial position. In addition to the peg-in-hole problem, which has become a standard scenario to validate force guided assembly, the scope of this article also covers force guided assembly of more complex parts. Here, the analysis gives evidence to believe that it is unlikely that the implementation convergences acceptably, which is validated by experimental results.

关键词： Assembly Redundancy Force Torque Sensors Force measurement Robots

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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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Prediction of Machining Induced Residual Stresses in Aluminium Alloys Using a Hierarchical Data-Driven Fuzzy Modelling Approach

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IFAC Proceedings Volumes 2009年第23期42卷 231-236页

作者： Qian Zhang Mahdi Mahfouf Luis de Leon Soufiene Boumaiza John R. Yates Christophe Pinna Richard J. Greene Department of Automatic Control and Systems Engineering The University of Sheffield Sheffield S1 3JD UK Institute of Production Engineering and Machine Tools Leibniz University Hannover Germany Department of Mechanical Engineering The University of Sheffield Sheffield S1 3JD UK

The residual stresses created during shaping and machining play an important role in determining the integrity and durability of metal components. An important aspect of making safety critical components is to determine the machining parameters that create compressive surface stresses, or at least minimise tensile surface stresses. These machining parameters are usually found by trial and error experimentation backed up by limited numerical modelling using Finite Element Methods (FEM) and guided by expert knowledge. The shortcomings of FEM approaches are the length of time needed for the solution of complex models and the inability to learn from data. To solve these problems, a fuzzy modelling approach is presented in this paper and is shown to be successful in modelling machining induced residual stresses.

关键词： Data-Driven Modelling Fuzzy Modelling Mamdani Fuzzy Systems Model Approximation Learning Systems Prediction Problems Residual Stress Machining Aluminium Alloys

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Design of a device for the high-fidelity haptic rendering of rotatory car doors

Design of a device for the high-fidelity haptic rendering of...

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Conference on Human System Interactions, HSI

作者： Michael Strolz Claudia Ehinger Martin Buss Institute of Automatic Control Engineering Department of Electrical Engineering and Information Technology Technische Universität Munich Germany Institute of Machine Tools and Industrial Management Department of Mechanical Engineering Technische Universität Munich Germany Technische Universitat Munchen Munchen Bayern DE

To enable a realistic virtual prototyping of both actuated and unactuated rotatory car doors, a dedicated haptic device is developed. A fundamental issue is the derivation of the specific requirements for this interface, which is done based on knowledge of the typical user interaction with a car door and a comprehensive model of the dynamics of an actuated as well as an unactuated car door. The findings are that the device should only exhibit one rotatory degree-of-freedom, which should be actuated by a direct drive with a high torque output (ges 100 Nm) and very high position resolution (ges 16 Bit). A suitable direct-drive is selected and combined with other elements to form a backlash-free, very stiff haptic device. Due to both force and acceleration sensing, it can serve for the haptic rendering of actuated as well as unactuated car doors. Furthermore, a thorough safety scheme ensures a safe operation of the human-system-interaction.

关键词： Haptic interfaces Virtual prototyping Actuators Displays Vehicle dynamics Acceleration Prototypes Virtual reality Rendering (computer graphics) Torque

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In-Process measurement and positioning of precisionforged gear shafts in 4 dof 10

In-Process measurement and positioning of precisionforged ge...

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10th Anniversary International Conference of the European Society for Precision engineering and Nanotechnology, EUSPEN 2008

作者： Denkena, B. Immel, J. Gillhaus, R. Seewig, J. Reithmeier, E. Leibniz Universitaet Hannover Institute of Production Engineering and Machine Tools An der Universitaet 2 30823 Garbsen Germany Leibniz Universitaet Hannover Institute of Measurement and Automatic Control Nienburger Straße 17 30167 Hannover Germany

ISBN: (纸本)9780955308253

The application of high precision measurement devices in combination with mechatronic positioning chucks provides for enormous progression in production technology. In the collaborative research centre 489 which is funded by the German Research Foundation (DFG) the precision forging of highly loaded components is researched. The workpiece under examination is a gear shaft. Due to the minimum stock of only 30 to 80 microns the workpiece has to be precisely aligned before hard machining of the function elements. Therefore, two sensors in combination with a newly designed precision positioning chuck with integrated piezo actuators have been directly integrated into the machine tool. Due to the ability to measure steep angles, conoscopic sensors have been selected to ensure a reliable measurement of the toothing. After clamping the workpiece the profiles of the function elements are measured in several sections. With the help of specially adapted best-fit algorithms a three-dimensional vector is calculated. This vector contains the necessary adjustment information to relocate the workpiece and put it into the optimal position for machining. Communication with the new chuck is based on wireless technology (Bluetooth). Chuck integrated piezoactuators position the workpiece in 4 DOF. Among those, 2 DOF are used for a compensation of the eccentricity and the remaining 2 DOF correct the inclination. Thus, a complete alignment of the workpiece to the axis of rotation is accomplished.

关键词： Chucks

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A new Communication System for Reconfigurable Mechatronic Modules

A new Communication System for Reconfigurable Mechatronic Mo...

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

作者： S. Schmitz D. Yang K.-H. Wurst Institute for Control Engineering of Machine Tools and Manufacturing Units (ISW) University of Stuttgart Stuttgart Germany

In this article, in line with a research study, analysis and investigation of a new communication system are presented to reduce interfaces and save cables for mechatronic self-sustainable modules, which will result in new modular machine concepts. The DC link of inverter driven electrical drives is used as a communication medium for transmitting data to control the drive and to get the values of sensors installed at the motor. This article deals with analysis and modeling of disturbances and with frequency domain channel and in a second step it presents simulation results of coded orthogonal frequency division multiplex (OFDM) system operating in a realistic scenario.

关键词： Mechatronics Communication cables machine tools Inverters Power cables Communication switching OFDM modulation Demodulation Radio communication Wireless LAN

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Energy consumption modeling and optimization for production machines

Energy consumption modeling and optimization for production ...

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IEEE International Conference on Sustainable Energy Technologies, ICSET

作者： Anton Dietmair Alexander Verl Institute for Control Engineering of Machine Tools and Manufacturing Units (ISW) Universitaet Stuttgart Stuttgart Germany

In order to facilitate the process of replacing existing energy sources with sustainable alternatives and to minimize the environmental impact, the energy efficiency not only in consumer and building technology, but also in manufacturing has to be improved. At present, no suitable techniques are available to model and optimize the energy consumption behavior of production machines that take into account how the machines are used. To overcome this limitation, we introduce a lean, scalable modeling formalism that allows making predictions about the energy efficiency depending on design and operation. We present examples for modeling and optimization of a milling machine.

关键词： Energy consumption machinery production industries Manufacturing industries Energy efficiency Optimization methods Energy measurement Electrical products industry Cost function Automotive engineering Investments

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Multi-agent based reconfigurable manufacturing execution system

Multi-agent based reconfigurable manufacturing execution sys...

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IEEE International Conference on Industrial engineering and engineering Management

作者： Min Yu Weimin Zhang Peter Klemm Mechanical Engineering College University of Tongji Shanghai China Institute for Control Engineering of Machine Tools and Manufacturing Units (ISW) University of Stuttgart Stuttgart Germany

ISBN: (纸本)9781424415281;1424415284

Fierce market competition forces enterprises and manufacturing systems to organize the manufacturing resources dynamically to react to perturbations of market quickly. As the bridge between shop floor level and control level, manufacturing execution system (MES) should be flexible, adaptable, reusable and extendable. To meet these requirements, a two-fold hybrid multi-agent control architecture, which takes advantages of distributed and decentralized control architecture, and the functions of each agent are introduced. In this paper reconfigurable MES (RMES) is realized by a synergy of two concepts: reconfigurable manufacturing cell and blackboard architecture. RMC possesses some characteristics and functions of RMC to enable manufacturing resources to be reconfigured dynamically. As the core agent of the RMES, configuration agent utilizes the blackboard architecture which has several attractive features such as explicit control, modularity, and structured interaction. To implement the framework, the reconfiguring process of RMES is established.

关键词： Optimized production technology Enterprise resource planning Manufacturing systems Materials requirements planning control systems Multiagent systems Manufacturing processes Distributed computing Job shop scheduling Financial management

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A versatile modular robot control architecture for sensor integrated assembly

A versatile modular robot control architecture for sensor in...

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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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