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检索条件"机构=Process Automation and Robotics Fraunhofer IPK"

共 18 条记录，以下是1-10 订阅

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Resource Efficient Path Planning for Mobile Manipulators in Recurring Machine Tending Tasks 3

Resource Efficient Path Planning for Mobile Manipulators in ...

引用

3rd IEEE Industrial Electronics Society Annual On-Line Conference, ONCON 2024

作者： Niemann, Sonke Heimann, Oliver Schorn, Carolina Kruger, Jorg Fraunhofer IPK Process Automation and Robotics Berlin Germany Fraunhofer IPK Machine Vision Berlin Germany Technische Universitat Berlin Industrial Automation Berlin Germany

ISBN: (纸本)9798331540319

Mobile Manipulators are on the path to becoming a general purpose automation solution with applications in fields of manufacturing, healthcare among others. However, the potential of mobile manipulators for high mix - low volume production is not exhausted, with operation to be expected more time-efficient, resilient and most of all more flexible. This paper presents an approach to mobile manipulator path planning for servicing tasks in a factory environment. The proposed algorithm enables time-efficient manipulator motion planning for recurring pick-and-place tasks through online path planning that is guided by offline-generated support data. This leverages the existing redundancy of information between recurring service tasks and reduces the overall computation needed. The results show that this approach is faster than sampling-based planning in static environments and produces comparably short trajectories in static environments with collisions created through human error. © 2024 IEEE.

关键词： Motion planning

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Integrating PLCs and Robots into the ROS 2 Ecosystem 29

Integrating PLCs and Robots into the ROS 2 Ecosystem

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

作者： Chemnitz, Moritz Schorn, Hendrik Töreki, Kolos Fritz, Artur Process Automation and Robotics Fraunhofer Ipk Berlin Germany NxtControl GmbH Schneider Electric Vienna Austria

ISBN: (纸本)9798350361230

To stimulate the connection between robotics and industrial control systems, this work presents a solution for integrating Programmable Logic Controllers (PLCs) into the Robot Operating System 2 (ROS 2), based on the IEC 61499 standard. For this purpose, we have developed a framework that automatically generates all code for the PLC and ROS 2. Limitations regarding usable data types are discussed, and we demonstrate the functionality by interconnecting a robot and a PLC. © 2024 IEEE.

关键词： Robot Operating System

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Planning of Time-Efficient Trajectories for Mobile Robots with Differential-Drives 29

Planning of Time-Efficient Trajectories for Mobile Robots wi...

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

作者： Lelidis, Philipp Vick, Axel Production Machinery and Equipment Management Fraunhofer Institute for Production Systems and Design Technology Ipk Berlin Germany Process Automation and Robotics Fraunhofer Institute for Production Systems and Design Technology Ipk Berlin Germany

ISBN: (纸本)9798350361230

To effectively utilize the capacities of the production facilities, flexible and fast transport, and manipulation technology is essential. Current path planning methods use simple paths without exploiting the physical limitations of mobile robots. This paper deals with the time-efficient kinematic planning of path and velocity trajectories for autonomous mobile robots equipped with a differential-drive, used to load and unload machine tools. For a close parking position next to the machine tools, the mobile robot must approach practically straight without the necessity of turning at the end. After a brief definition of the kinematics of a mobile robot with nonholonomic constraints, a Bezier-curve is combined with multiple jerk-limited velocity trajectories considering the initial and final state as well as the physical limitations. For a time-efficient acceleration and deceleration the maximum acceleration of the mobile robot is used and differentiated into the radial and tangential acceleration. This allows a quickly reached close parking pose next to a machine tool. The algorithm is tested with simulations in RVIZ in combination with Gazebo and ROS2 as well as with the real mobile robot Tend-o-Bot. © 2024 IEEE.

关键词： Mobile robots

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Resource Efficient Path Planning for Mobile Manipulators in Recurring Machine Tending Tasks

Resource Efficient Path Planning for Mobile Manipulators in ...

引用

On-Line Conference (ONCON), Industrial Electronics Society Annual

作者： Sönke Niemann Oliver Heimann Carolina Schorn Jörg Krüger Process Automation and Robotics Fraunhofer IPK Berlin Germany Machine Vision Fraunhofer IPK Berlin Germany Industrial Automation Technische Universitat Berlin Berlin Germany

ISBN: (数字)9798331540319

ISBN: (纸本)9798331540326

关键词： Measurement Service robots Redundancy Medical services Manipulators Production facilities Trajectory Planning Manufacturing Standards

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Evaluating Form-flexible Gripper in Robotic Manipulation Tasks

Evaluating Form-flexible Gripper in Robotic Manipulation Tas...

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IEEE International Symposium on Industrial Electronics (ISIE)

作者： Niklas Grambow Axel Vick Bennet Schulz Process Automation and Robotics Fraunhofer IPK Berlin Germany Volkswagen Commercial Vehicles Hannover Germany

ISBN: (数字)9798350394085

ISBN: (纸本)9798350394092

Common grippers used in robotic manipulation are typically designed for specific tasks, tailored to accommodate anticipated variations in object geometry, surface texture, and weight. Some grippers exist that ensure grasping a range of objects. One promising approach utilizes gripping pads that adapt the geometry and shape of the object to manipulate following by constructing a vacuum to create the effective gripping force. We propose an evaluation of a gripper that uses a circular gripping pad able to adapt to the geometry and surface of the objects to manipulate. In order to assess the gripper’s performance we utilize an optical measurement system to observe the manipulation process including various objects to be manipulated. Analyzing the data obtained from the optical tracking system enables us to evaluate the precision of grasping different objects. One experiment includes the picking of an object from a predefined initial position, performing free space motion before returning back to the initial position. The preliminary results indicate positional deviations of up to 10.36 mm.

关键词： Geometry Service robots Tracking Shape Grasping Optical variables measurement Surface texture

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Integrating PLCs and Robots into the ROS 2 Ecosystem

Integrating PLCs and Robots into the ROS 2 Ecosystem

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International Conference on Emerging Technologies and Factory automation (ETFA)

作者： Moritz Chemnitz Hendrik Schorn Kolos Töreki Artur Fritz Process Automation and Robotics Fraunhofer IPK Berlin Germany nxtControl GmbH Schneider Electric Vienna Austria

ISBN: (数字)9798350361230

ISBN: (纸本)9798350361247

关键词： Codes Service robots Operating systems Industrial control Programmable logic devices Ecosystems IEC Standards Standards Manufacturing automation

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Energy Management for Industrial Robots based on automationML

Energy Management for Industrial Robots based on AutomationM...

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International Conference on Control, Decision and Information Technologies (CoDIT)

作者： Valentyn Petrichenko Gregor Thiele Department for Process Automation and Robotics Fraunhofer Institute for Production Systems and Design Technology IPK Berlin Germany

ISBN: (数字)9798350373974

ISBN: (纸本)9798350373981

Motivated by political regulations and rising energy prices, companies strive for implementing energy management and for reducing their energy consumption. It is an expenditure of work for the energy manager to gather all relevant information about the facilities and machines (e.g. meaning of measurement and control signals, limits of these quantities, installed nominal capacities). In many cases, there is digital planning data from the planning, construction and commissioning phases. Using automationML, this information can be used collaboratively not only for engineering and maintenance but for energy monitoring and optimization. In this study, an industrial robot and two conveyors are integrated in the wide-spread energy management software suite EnEffCo. We document the method and results. Implications for deriving optimization formulations are discussed.

关键词： Service robots Industrial robots Software Regulation Planning Maintenance Energy management Information technology Optimization Monitoring

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Planning of Time-Efficient Trajectories for Mobile Robots with Differential-Drives

Planning of Time-Efficient Trajectories for Mobile Robots wi...

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International Conference on Emerging Technologies and Factory automation (ETFA)

作者： Philipp Lelidis Axel Vick Production Machinery and Equipment Management Fraunhofer Institute for Production Systems and Design Technology IPK Berlin Germany Process Automation and Robotics Fraunhofer Institute for Production Systems and Design Technology IPK Berlin Germany

ISBN: (数字)9798350361230

ISBN: (纸本)9798350361247

关键词： Kinematics Turning Production facilities Trajectory Planning Machine tools Mobile robots Manufacturing automation Load modeling Autonomous robots

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Benchmark Concept for Industrial Pick&Place Applications 13

Benchmark Concept for Industrial Pick&Place Applications

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13th International DAAAM Baltic Conference and 29th International Baltic Conference, BALTMATTRIB 2021

作者： Vick, Axel Rudorfer, Martin Vonasek, Vojtech Process Automation and Robotics Fraunhofer IPK Berlin Germany University of Birmingham United Kingdom Czech Technical University Prague Czech Republic

Robotic grasping and manipulation is a highly active research field. Typical solutions are usually composed of several modules, e.g. object detection, grasp selection and motion planning. However, from an industrial point of view, it is not clear which solutions can be readily used and how individual components affect each other. Benchmarks used in research are often designed with simplified settings in a very specific scenario, disregarding the peculiarities of the industrial environment. Performance in real-world applications is therefore likely to differ from benchmark results. In this paper, we present a concept for the design of general Pick&Place benchmarks, which help practitioners to evaluate the system and its components for an industrial scenario. The user specifies the workspace (obstacles, movable objects), the robot (kinematics, etc.) and chooses from a set of methods to realize a desired task. Our proposed framework executes the workflow in a physics simulation to determine a range of system-level performance measures. Furthermore, it provides introspective insights for the performance of individual components. © 2021 DAAAM International. All rights reserved.

关键词： Object detection

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Universal identification and control of industrial manufacturing equipment as a service 13

Universal identification and control of industrial manufactu...

引用

13th International DAAAM Baltic Conference and 29th International Baltic Conference, BALTMATTRIB 2021

作者： Tessaro, V. Vick, A. Krüger, J. Technical University Berlin Berlin Germany Process Automation and Robotics Fraunhofer IPK Berlin Germany Industrial Automation Technology Technical University Berlin Berlin Germany

Rapid prototyping as well as retrofitting and digitization of legacy manufacturing equipment often needs design and application of closed loop controllers. The analysis and modeling for such systems like energy-conversion or material transport devices is labor-intensive and needs process understanding. This paper presents a universal approach of identification and closed loop control of arbitrary linear systems delivered through web services using OPC UA as a standardized industrial communication interface. The identification service was used to model the dynamics of a 6-DOF industrial robot and a laboratory-scale water plant containing two separately controllable pumps. The control service successfully controlled the robot’s linearizable axes and the water plant’s pumps by using their respective identified state-space models. To evaluate the performance of the controllers in terms of stability, accuracy, and time response, target trajectories and disturbances like signal noise and latency in communication were introduced. Simulation and laboratory experiments show promising results for control of diverse systems with varying time-constants and imply broad applicability. So, this paper brings a guideline to efficiently implement model predictive control in manufacturing. © 2021 DAAAM International. All rights reserved.

关键词： State space methods

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