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Optimale Steuerung zur Kompensation der Pfadabdrängung von Industrierobotern

Brendel, Elmar (2011):
Optimale Steuerung zur Kompensation der Pfadabdrängung von Industrierobotern.
Darmstadt, Technische Universität Darmstadt, Department of Computer Science, [Master Thesis]

Abstract

Nowadays industrial robots are successfully being used in many domains of manufacturing and produc- tion. Recently their utilization for cutting applications like the milling of parts gets more and more into the focus of scientists and engineers. Robots have several essential advantages in comparison to common machinery tools. Their aquisition costs are low, they have a very large work space and can also be used for various other tasks. However robots are currently not able to mill hard materials with competitive accuracy. High external forces emerge during the milling process and take effect on the robot structure. Industrial robots possess a certain elastic behavior, especially their joints. This causes the robot to drift away from the desired path. The result is the production of less accurate parts. The goal of this work is to compensate the derivation during the path tracking in milling applications. The resulting method should be gernerally applicable, so that it does not depend on a specific robot model or an unique set of parameters. Additional hardware, which would prevent an universal adoption of the method, is not allowed. Optimal Control offers a convinient tool to solve such kinds of problems. In this way the ro- bot dynamics model can be replaced and arbitrary path can be provided. Additional constraints and system restrictions can be added easily. So the developed approach stays adaptable for a broad range of scenarios with differing robot types, tool parameters and materials. Because of the advances in the field of optimization and with the help of modern numerical algorithms, Optimal Control Problems can efficiently being solved on today’s common computer hardware.

Item Type: Master Thesis
Erschienen: 2011
Creators: Brendel, Elmar
Title: Optimale Steuerung zur Kompensation der Pfadabdrängung von Industrierobotern
Language: German
Abstract:

Nowadays industrial robots are successfully being used in many domains of manufacturing and produc- tion. Recently their utilization for cutting applications like the milling of parts gets more and more into the focus of scientists and engineers. Robots have several essential advantages in comparison to common machinery tools. Their aquisition costs are low, they have a very large work space and can also be used for various other tasks. However robots are currently not able to mill hard materials with competitive accuracy. High external forces emerge during the milling process and take effect on the robot structure. Industrial robots possess a certain elastic behavior, especially their joints. This causes the robot to drift away from the desired path. The result is the production of less accurate parts. The goal of this work is to compensate the derivation during the path tracking in milling applications. The resulting method should be gernerally applicable, so that it does not depend on a specific robot model or an unique set of parameters. Additional hardware, which would prevent an universal adoption of the method, is not allowed. Optimal Control offers a convinient tool to solve such kinds of problems. In this way the ro- bot dynamics model can be replaced and arbitrary path can be provided. Additional constraints and system restrictions can be added easily. So the developed approach stays adaptable for a broad range of scenarios with differing robot types, tool parameters and materials. Because of the advances in the field of optimization and with the help of modern numerical algorithms, Optimal Control Problems can efficiently being solved on today’s common computer hardware.

Place of Publication: Darmstadt
Divisions: 20 Department of Computer Science
20 Department of Computer Science > Simulation, Systems Optimization and Robotics Group
Date Deposited: 09 Jul 2019 10:02
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