Since nearly 60 years industrial robots are a building block to increase productivity through automation. Solutions for set up, programming and maintenance are well developed. But these procedures cannot be transferred without problems to small and medium companies (SMEs). Industrial robots are only viable in these use cases, if the programming can be conducted in an intuitive and fast way, preferably by the process expert. The concept followed is set up accordingly: The guidance of the robot was realized using a force torque sensor. Haptic, graphic and verbal interactions allow the user to combine different modalities. The safety concept follows of the ISO 10218-1. The recorded trajectory is stored and processed in segments. A laser triangulation sensor allows to use local geometry information to optimize the recorded path. Trajectory Post Processing: Several algorithms to enable the graphical trajectory post processing have been developed and compared. Necessary steps are the data compression, the segmentation and the mapping into line and spline elements. Trajectory Optimization: A higher precision can be reached when incorporating local work piece data. The scan data from a laser triangulation sensor is filtered and processed using two approaches. The scanline based approach can be used to generate programs for simple seams. The region growth based approach enables the worker to scan the work piece and to adapt the programmed points. Realization: The developed programming environment has been realized and tested in a welding scenario at the facilities of Fraunhofer IPA and in the shop floor of a SME welding contract manufacturer. The programming environment and the realized robot cell allowed producing common parts out of the production. Experienced welders without robot programming knowledge have been able to program simple parts with an introduction time of only few hours. Robot programmers could decrease the necessary programming time.


    Zugriff

    Download


    Exportieren, teilen und zitieren



    Titel :

    Aufnahme und Nachbearbeitung von Bahnen bei der Programmierung durch Vormachen von Industrierobotern


    Beteiligte:

    Erscheinungsdatum :

    2011



    Medientyp :

    Hochschulschrift


    Format :

    Elektronische Ressource


    Sprache :

    Deutsch





    Off-line Programmierung und Simulation von Industrierobotern

    Bernhardt,R. / Schreck,G. | Kraftfahrwesen | 1987


    Nockenwelle ohne Nachbearbeitung

    Saab,SE / Schaudt,Stuttgart,DE | Kraftfahrwesen | 1989


    Ein D fuer ein I vormachen - Test VW Golf GTD

    Volkswagen,Wolfsburg,DE | Kraftfahrwesen | 2013


    Struktur und Programmierung von Industrierobotern Teil 2:Programmiersprachen und Programmiersysteme

    Blume,C. / Dillmann,R. / Univ.Karlsruhe,Inst.f.Inf. | Kraftfahrwesen | 1980