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2016 IEEE International Conference on Automation Science and engineering, CASE 2016

作者： Friedrich, Christian Lechler, Armin Verl, Alexander Institute of Control Engineering Machine Tools and Manufacturing Units University of Stuttgart Stuttgart70174 Germany

ISBN: (纸本)9781509024094

The adaption of autonomous robots to complex assignments like automating maintenance tasks, requires the study of novel planning systems for task generation which use a priori and sensor-based data. This paper presents an approach to disassembly and assembly planning for automating maintenance tasks in production systems. The planning system combines CAD data with visual data from an RGB-D sensor. This allows the creation of a consistent environmental model, which can be used to plan a (dis)assembly task for an autonomous robot. The proposed method allows to compute manipulations directly in the task space of the robot. The algorithm uses a geometric and semantic reasoning concept to compute a relational graph which describes the individual degrees of freedom in-between the components. The proposed algorithm is highly time efficient, thus being particularly suited for the automation of maintenance tasks. With the additional integration of visual data, it is possible to compensate environmental uncertainty from the CAD data as well. This paper describes the planning architecture and algorithms in detail and concludes with an experimental validation. © 2016 IEEE.

关键词： Degrees of freedom (mechanics)

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Online Parameter Estimation for Model-Based Force control in Milling Processes

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IFAC-PapersOnLine 2016年第12期49卷 634-639页

作者： Petruck, Henning Schlick, Christopher M. Stemmler, Sebastian Abel, Dirk Adams, Oliver Klocke, Fritz Institute of Industrial Engineering and Ergonomics RWTH Aachen University Germany Institute of Automatic Control RWTH Aachen University Aachen Germany Laboratory for Machine Tools and Production Engineering RWTH Aachen University Aachen Germany

In order to adapt to a milling machine's changing behavior while operating due to changing tool-workpiece contact conditions adaptive controllers are an advantageous approach to control the machine's feed rate. Otherwise inaccuracies can occur leading to poor quality. In this paper Model Predictive control (MPC) is used to control the feed rate of the machine. By applying a parameterized model to the current state of the milling process its future trend can be predicted. An n-th order system with delay time is used to model the behavior of the milling machine's velocity control loop. By continually re-estimating the model parameters at run time, the controller adapts to the current machine behavior. We developed solutions of the maximum likelihood estimators of the model's independent parameters for a state-space representation that can be numerically efficiently calculated. These estimators can be used to estimate the parameters of the n-th order system and the delay time iteratively based on the collected process data. Two validation studies, one emulating an online estimation based on real data from the five-axis machining center Mazak Variaxis 630II-T, and one simulation study with a simulated machine, were carried out to validate the iterative parameter estimation algorithm. In these studies, the time variant model, whose parameters are re-estimated on the basis of the developed estimators, is compared to a time invariant model, for which the controller does not adapt to changing machine behavior. © 2016

关键词： Parameter estimation Adaptive control systems controllers Identification (control systems) Iterative methods Least squares approximations Machining centers Maximum likelihood estimation Milling (machining) Milling machines Model predictive control Numerical methods Predictive control systems State space methods Adaptive control Least squares methods Model based controls Numerical algorithms State space models

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Manufacturing Task Description for Robotic Welding and Automatic Feature Recognition on Product CAD Models

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Procedia CIRP 2017年 60卷 122-127页

作者： Alexander Kuss Thomas Dietz Konstantin Ksensow Alexander Verl Fraunhofer Institute for Manufacturing Engineering and Automation IPA Nobelstrasse 12 70569 Stuttgart Germany University of Applied Sciences Schellingstr. 24 70174 Stuttgart Germany Institute for Control Engineering of Machine Tools and Manufacturing Units ISW University of Stuttgart Seidenstrasse 36 70174 Stuttgart Germany

In this paper, a novel approach for an ontological representation of continuous-path manufacturing tasks is presented on the example of robotic fillet welding. The representation specifies manufacturing information and product related geometric constraints relevant for automatic program planning in robotic arc welding. The geometric constraints are transformed into simple continuous curve primitives such as lines, circular arcs and B-spline curves supporting the easy integration in robot program planning systems decoupled from a complex CAD environment. It also represents information on welding gaps along the joint geometry. Moreover, a method for automatic feature recognition based on rule- based pattern recognition is presented to automatically retrieve manufacturing information from the CAD model of the product and generate the respective manufacturing task specification. The method is evaluated in several test scenarios for welding product assemblies indicating the usability and effectiveness for automatic program planning in robotic welding.

关键词： Robot CAD model Welding

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Detection of abembly variations for automatic program adaptation in roboticwelding systems 47

Detection of abembly variations for automatic program adapta...

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47th International Symposium on Robotics, ISR 2016

作者： Kub, Alexander Schneider, Ulrich Dietz, Thomas Verl, Alexander Fraunhofer Institute for Manufacturing Engineering Automation IPA Stuttgart Germany Institute for Control Engineering of Machine Tools Manufacturing Units ISW Stuttgart Germany

ISBN: (纸本)9783800742318

This paper proposes a novel approach for detection of abembly variations to adapt the programming of a robotic welding system. A matching proceb is performed between the different parts of an abembly CAD model and a measured point cloud using an Iterative Closest Point algorithm to determine abembly variations. Experimental validation is performed with an industrial robot equipped with stereo camera and welding gun. A method for accurate calibration of sensor and welding gun is presented as it influences the quality of the welding proceb. Experimental results show an increased weld seam quality and the robustneb of the proposed approach in industrial applications. © 2016 VDE VERLAG GMBH Berlin Offenbach.

关键词： Welding

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Zero Defect Manufacturing Strategies for Reduction of Scrap and Inspection Effort in Multi-stage Production Systems

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Procedia CIRP 2018年 67卷 368-373页

作者： Florian Eger Daniel Coupek Davide Caputo Marcello Colledani Mariluz Penalva Jon Ander Ortiz Hermann Freiberger Gernot Kollegger Institute for Control Engineering of Machine Tools and Manufacturing Units Seidenstr. 36 Stuttgart 70174 Germany GKN Aerospace Engine Systems Norway Kirkegårdsveien 45 N-3616 Kongsberg Norway Politecnico di Milano Department of Mechanical Engineering Via la Masa 1 20156 Milan Italy Tecnalia Research & Innovation Mikeletegi 7 Donostia-San Sebastián 20009 Spain IK4-Ideko Arriaga Industrialdea 2 Elgoibar 20870 Spain ABF Industrielle Automation GmbH Deggendorfstrae 6 A-4030 Linz nxtControl GmbH Aumühlweg 3/B1 A-2544 Leobersdorf Austria

Multi-stage production systems offer a huge potential for defect compensation and defect propagation avoidance on system level, in contrast to current single-stage solutions, in order to reduce scrap and to minimize time-consuming and cost-intensive quality control. Integration of additional sensor systems and sophisticated analysis of the acquired signals enable strategies in the field of downstream compensation, inline rework and enhanced process control without including additional process and inspection stages. The presented strategies are validated in three emerging European industrial sectors (aerospace, railway and medical) yielding a universal solution for zero defect manufacturing in multi-stage production systems.

关键词： Zero-defect manufacturing Effect elimination Multi-stage Production system

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Editorial

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Procedia Manufacturing 2018年 24卷 1-1页

作者： Professor Dr.-Ing. Berend Denkena Professor Dr.-Ing. Klaus-Dieter Thoben Professor Dr.-Ing. Ansgar Trächtler Chair SysInt 2018 Institute of Production Engineering and Machine Tools Leibniz Universität Hannover Chair SysInt 2018 ICT applications for Production University of Bremen Chair SysInt 2018 Control Engineering and Mechatronics Heinz Nixdorf Institute University of Paderborn

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Automatic optimal motion generation for robotic manufacturing processes: Optimal collision avoidance in robotic welding

Automatic optimal motion generation for robotic manufacturin...

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2016 IEEE International Conference on Automation Science and engineering, CASE 2016

作者： Diaz, Julian R. Dietz, Thomas Ockert, Philip Kuss, Alexander Hagele, Martin Verl, Alexander Nobelstrasse 12 StuttgartD-70569 Germany Institute for Control Engineering of Machine Tools and Manufacturing Units ISW University of Stuttgart Seidenstrasse 36 Stuttgart70174 Germany

ISBN: (纸本)9781509024094

Optimal, efficient and intuitive robotic programming is still a challenge in robotic manufacturing and one of the main reasons why robots are not widely implemented in small and medium-sized enterprises (SME). In order to effectively and efficiently respond to the current product variability requirements, SMEs require easy and optimal programmable robotic manufacturing systems in order to achieve profitable and rapid changeover. To make up for this deficiency, this paper proposes a solution approach for computing optimal motions for manufacturing processes based on the interpretation of the manufacturing process and an automatic configuration of a state of the art sample-based algorithm, the Rapidly-exploring Random Tree RRT∗ which is provably asymptotically optimal, using as inputs the semantic and mathematical descriptions of the product, process and resource components. The approach is simulated on the example of collision avoidance for different scenarios in robotic welding revealing its functionality and outlining future potentials for the optimal motion generation for robotic manufacturing processes. © 2016 IEEE.

关键词： Collision avoidance

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View-dependent Virtual and Augmented Reality for machine tools

View-dependent Virtual and Augmented Reality for Machine Too...

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European Modelling Symposium

作者： Philipp Sommer Alexander Verl Institute for Control Engineering of Machine Tools and Manufacturing Units University of Stuttgart

ISBN: (纸本)9781509049721

In recent papers, the concept of an intelligent window for machine tools (iWindow) using virtual and augmented reality in order to replace traditional windows in machine tools was introduced. Such intelligent windows provide additional possibilities for observing the machine interior under difficult visibility conditions, combine and reduce the number of supporting systems and enrich the machine interior with contextual information. For creating a view-dependent virtual and augmented reality individual solution approaches presented in other research were combined, extended and applied to machine tools to form an intelligent window. For the impression of a real window and perspectively correctly overlay virtual objects, the operator's head position is tracked and the perspective projection matrix is calculated continuously. The necessary equations are presented. In an experimental setup, view-dependent rendering for virtual reality on opaque displays as well as augmented reality on transparent displays were validated. The rendering is performing well and an accurate overlay of virtual and real machine interior can be created. However, several difficulties regarding illumination, transparency and human stereo vision did occur. Possible improvements and solutions are suggested.

关键词： View-dependent rendering Virtual reality Augmented reality machine tools

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Principle and Verification of a Structure Model Based Correction Approach

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Procedia CIRP 2016年 46卷 111-114页

作者： Xaver Thiem Mirko Riedel Bernd Kauschinger Jens Müller Institute of machine tools and control engineering Helmholtzstraße 7a 01069 Dresden Germany

Structure model based correction is a new approach for the reduction of thermally induced positioning errors in machine tools. Herein axis-position dependent correction values are calculated in thermal real-time using thermal and thermo-elastic models. The correction values are used for the compensation of thermal errors. Necessary input data for the thermal model are captured in the control. This approach is verified at a 6-axis-machine using a camera based pose measuring system. The paper shows the principle of the correction approach and its verification by pose measurements. In conclusion the correction model meets the qualitative displacement in the workspace quite well.

关键词： machine tool thermal error compensation measurement

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Kinematically Coupled Force Compensation – Design Principle and control Concept for Highly-dynamic machine tools

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Procedia CIRP 2016年 46卷 189-192页

作者： Steffen Ihlenfeldt Jens Müller Christoph Peukert Marcel Merx Institute for Machine tools and Control Engineering Technische Universität Dresden 01062 Dresden Germany

Today, the dynamics, especially acceleration and jerk, of machine tools are limited in order to reduce excitations of machine structure vibrations to an acceptable level. A novel approach - the Kinematically Coupled Force Compensation (KCFC) - combines the principles of redundant axes and force compensation to further increase machines’ dynamics. In this paper, the new principle is introduced and possible control concepts are compared based on an analysis in frequency and time domain. Simulations, using a simple multi-body simulation model implemented in MATLAB/Simulink ® , show, that machine structure vibrations can be reduced significantly by KCFC.

关键词： machine tool control Compensation

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