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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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Automatic Generation of Digital Twin Models for Simulation of Reconfigurable Robotic Fabrication Systems for Timber Prefabrication 38

Automatic Generation of Digital Twin Models for Simulation o...

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38th International Symposium on Automation and Robotics in Construction, ISARC 2021

作者： Kaiser, Benjamin Littfinski, Daniel Verl, Alexander Institute for Control Engineering of Machine Tools and Manufacturing Systems University of Stuttgart Germany

ISBN: (纸本)9789526952413

Timber construction and prefabrication are becoming increasingly important in the building and construction industry. The degree of automation in this area is low. Caused by the great variability of construction projects and building components, automation systems that can adapt flexibly to different construction projects are required. However, a system that fulfills these conditions does not yet exist. Down-times for reconfiguration in between projects must be short. The use of robotics for the automation of prefabrication is constantly developing. Recent publications present a novel, flexible, reconfigurable, and transportable manufacturing platform using industrial robots. A system consisting of several of these modular platforms can be flexibly adapted to the changing requirements of different construction projects and set up on-site at local timber construction companies. To ensure the manufacturability of the timber components and to minimize downtimes between projects, the entire workflow from digital design to fabrication must be considered. The co-design approach makes this possible. It breaks up the currently existing sequential process from design to fabrication and considers all sub-steps holistically. Thus, enabling the consideration of the fabrication capabilities during building design. This allows the planning of building components and system layout so that fabrication is feasible. To achieve this, the fabricability of a given system layout has to be evaluated. This requires a digital twin of the fabrication system as a simulation model. The reconfigurability of the fabrication system must be reflected by the digital twin. The fabrication tasks and the system configuration are constantly changed in search of a valid combination. Therefore, with each iteration, the digital twin must be adapted or newly created. At present, this is mostly a manual process. This makes the whole approach unfeasible. To solve this problem, this work presents an approach

关键词： Cyber-Physical System Digital Twin Simulation Software Defined manufacturing Timber Prefabrication

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Applications enabled by a deterministic wireless communication system such as industrial LTE 7

Applications enabled by a deterministic wireless communicati...

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2017 7th International Workshop on Computer Science and engineering, WCSE 2017

作者： Neher, Philipp Lechler, Armin Verl, Alexander Institute for Control Engineering of Machine Tool and Manufacturing Units University of Stuttgart Stuttgart Germany

ISBN: (纸本)9789811136719

Current industrial communication systems rely heavily on communication cables to transmit information and control signals. Wireless networks are emerging on the factory level with non-real-time requirements. The needed cable for deterministic real-time communication hinders the development and deployment of various applications in the production environment. Some of these applications might be an integral part in solving the challenges of future production. Along with a description of a wireless communication system, various examples for enabled applications are presented in this paper.

关键词： Cables

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Increasing the energy efficiency in metal cutting manufacturing through a demand based coolant filtration 20

Increasing the energy efficiency in metal cutting manufactur...

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20th CIRP International Conference on Life Cycle engineering, LCE 2013

作者： Rahäuser, Raphael Klemm, Peter Verl, Alexander Kircher, Christian Graduate School of Excellence Advanced Manufacturing Engineering University of Stuttgart Germany Institute for Control Engineering of Machine Tools Manufacturing Units University of Stuttgart Germany Robert Bosch GmbH Germany

ISBN: (纸本)9789814451475

The coolant supply uses in typical applications of metal cutting manufacturing on average 50 % of the electrical energy. A main optimization option is the retrofit of demand-based control strategies in the supply system. Previous studies showed that a high saving potential remains in pressure filter plants for coolant cleaning. The plants are operated constantly on an excessive power level, independent on the coolant demand. A concept of a demand-based control is introduced and evaluated in simulations using the example of precoat filters. The analysis at an existing plant shows an energy saving potential of up to 73 %.

关键词： Energy efficiency

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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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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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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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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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Modular modeling of energy consumption for monitoring and control

Modular modeling of energy consumption for monitoring and co...

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作者： Verl, Alexander Abele, Eberhard Heisel, Uwe Dietmair, Anton Eberspächer, Philipp Rahäuser, Raphael Schrems, Sebastian Braun, Steffen Institute for Control Engineering of Machine Tools and Manufacturing Units Universität Stuttgart Stuttgart Germany Institute for Production Management Technology and Machine Tools TU Darmstadt Darmstadt Germany Institute for Machine Tools Universität Stuttgart Stuttgart Germany

ISBN: (纸本)9783642196911

A prerequisite to achieve energy efficiency in production through optimization is the possibility to use simulation models to predict the consequences settings, decisions and actions have on the energy consumption and thus on the lifecycle cost of production machines. But today's production systems are dominated by agile structures and rapid changes of general conditions so that predictive energy consumption models need to be adaptable. Therefore in the ECOMATION project the modular modeling approach for energy consumption prediction presented here is being developed, which facilitates re-use of energy consumption models and thus minimizes the cost of finding the optimal operational profiles.

关键词： Energy efficiency

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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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