The Experts below are selected from a list of 24777 Experts worldwide ranked by ideXlab platform

H Worn - One of the best experts on this subject based on the ideXlab platform.

  • intuitive and model based on line programming of Industrial Robots new input devices
    Intelligent Robots and Systems, 2009
    Co-Authors: B Hein, H Worn
    Abstract:

    This paper focuses on the simplification of the on-line programming process of Industrial Robots. It presents in detail the input part of a modular on-line programming environment presented as overview in [1]. Main concept of this programming environment is an intuitive way of moving and teaching Robots, while supporting the user with assisting algorithms like collision avoidance and automatic path planning. Goal is the combination of different approaches from tele-operation, programming by demonstration, Virtual Reality and off-line programming, and to reuse them in a new fashion on-line on the shop-floor. This paper presents some ideas and concepts, how input devices and strategies for robot programming could look like and how to use them to set up an intuitive manual motion control of the robot.

  • intuitive and model based on line programming of Industrial Robots a modular on line programming environment
    International Conference on Robotics and Automation, 2008
    Co-Authors: B Hein, M Hensel, H Worn
    Abstract:

    This paper focuses on the simplification of the on-line programming process of Industrial Robots. It presents a modular on-line programming environment (software and hardware), which supports an intuitive way of moving and teaching Robots, while supporting the user with assisting algorithms like collision avoidance and automatic path planning. Main idea is the combination of different approaches from tele-operation, programming by demonstration and off-line programming, and reuse them in a new fashion on-line on the shopfloor. The proposed programming environment is designed to evaluate the usability of different combination of assisting techniques.

Jozsef Vancza - One of the best experts on this subject based on the ideXlab platform.

  • optimized joint motion planning for redundant Industrial Robots
    Cirp Annals-manufacturing Technology, 2016
    Co-Authors: Gabor Erdős, Andras Kovacs, Jozsef Vancza
    Abstract:

    Abstract The paper presents a model and solution method for optimized robot joint motion planning of redundant Industrial Robots that execute a set of tasks in a complex work environment, in face of various technological and geometric constraints. The approach aims at directly exploiting redundancy to optimize a given performance measure, e.g., cycle time. Alternative configurations along the path are captured in a graph model, whereas bi-directional transition between task and configuration spaces facilitates generating relevant, collision-free configurations only. Re-parametrization of the trajectory warrants compliance with the robot's kinematic constraints. Successful application of the method is demonstrated in remote laser welding.

Jorg Kruger - One of the best experts on this subject based on the ideXlab platform.

  • robot control as a service towards cloud based motion planning and control for Industrial Robots
    International Workshop on Robot Motion and Control, 2015
    Co-Authors: Axel Vick, Vojtech Vonasek, Robert Penicka, Jorg Kruger
    Abstract:

    This paper introduces a new concept for flexible motion planning and control of Industrial Robots. Instead of a closed monolithic architecture, an open service-based framework is proposed. The services can be run hardware-independent on a decentralized IT infrastructure (Cloud) allowing a fast reconfiguration of control modules and their multiple usage in different tasks. The services can be run on a dedicated PC or on individual virtual machines inside a single computing cluster. The proposed service-based framework was implemented and tested for the motion planning of a robotic manipulator. Effects on control performance, availability and scalability are investigated and documented.

  • spatial programming for Industrial Robots through task demonstration
    International Journal of Advanced Robotic Systems, 2013
    Co-Authors: Jens Lambrecht, Martin Kleinsorge, Martin J Rosenstrauch, Jorg Kruger
    Abstract:

    We present an intuitive system for the programming of Industrial Robots using markerless gesture recognition and mobile augmented reality in terms of programming by demonstration. The approach covers gesture-based task definition and adaption by human demonstration, as well as task evaluation through augmented reality. A 3D motion tracking system and a handheld device establish the basis for the presented spatial programming system. In this publication, we present a prototype toward the programming of an assembly sequence consisting of several pick-and-place tasks. A scene reconstruction provides pose estimation of known objects with the help of the 2D camera of the handheld. Therefore, the programmer is able to define the program through natural bare-hand manipulation of these objects with the help of direct visual feedback in the augmented reality application. The program can be adapted by gestures and transmitted subsequently to an arbitrary Industrial robot controller using a unified interface. Finally, we discuss an application of the presented spatial programming approach toward robot-based welding tasks.

  • analyzing energy consumption of Industrial Robots
    Emerging Technologies and Factory Automation, 2011
    Co-Authors: Moritz Chemnitz, Gerhard Schreck, Jorg Kruger
    Abstract:

    Energy conservation is a key aspect towards sustain-ability and is pursued by both, research and industry. To this end, we present measurements of the power consumption of two Industrial Robots. Based on a selected motion pattern the velocity and acceleration of the robot is varied and we show that the power is measurable with good repeatability. The energy of these motions is calculated from the power time series. Contrary to expectations it turns out that slow motions are not necessarily the most energy efficient. Finally, we show that the best strategy for energy conservation depends heavily on the robot model.

  • analyzing energy consumption of Industrial Robots
    Emerging Technologies and Factory Automation, 2011
    Co-Authors: Moritz Chemnitz, Gerhard Schreck, Jorg Kruger
    Abstract:

    Energy conservation is a key aspect towards sustain-ability and is pursued by both, research and industry. To this end, we present measurements of the power consumption of two Industrial Robots. Based on a selected motion pattern the velocity and acceleration of the robot is varied and we show that the power is measurable with good repeatability. The energy of these motions is calculated from the power time series. Contrary to expectations it turns out that slow motions are not necessarily the most energy efficient. Finally, we show that the best strategy for energy conservation depends heavily on the robot model.

Gerhard Hirzinger - One of the best experts on this subject based on the ideXlab platform.

  • learning accurate path control of Industrial Robots with joint elasticity
    International Conference on Robotics and Automation, 1999
    Co-Authors: Friedrich Lange, Gerhard Hirzinger
    Abstract:

    An adaptive architecture for feedforward control of Industrial Robots with standard positional controller is presented. This approach explicitly considers Robots with elastic joints. It assumes that the real position of the tool centre point (TCP) can be recorded for offline evaluation. Compensation of elasticity is trained in a feedforward controller. Adaptation takes place without any knowledge of the physical system model. The performance of the method is demonstrated in experiments with a 6-axis Industrial robot KUKA KR6/1 for which real path errors during full speed motion are reduced by 70%. Reductions of 50% can be expected for untrained paths or other Robots of the same type.

  • control of Industrial Robots with joint elasticity
    1999
    Co-Authors: Friedrich Lange, Gerhard Hirzinger
    Abstract:

    An adaptive architecture for feedforward control oj Industrial Robots with standard positional controller is presented. This approach explicitly considers Robots with elastical joints. It assumes that the real position of the TCP can be recorded for ofline evaluation. Compensation of elasticity is trained in a feedforward controller. Adaptation takes place without any knowledge of the physical system model. The performance of the method is demonstrated in experiments with a 6am”sIndustrial robot KUKA KR6\l for which real path errors during full speed motion are reduced by ?’0 %. Reductions of 50 % can be expected for untrained paths or other Robots of the same type.

B Hein - One of the best experts on this subject based on the ideXlab platform.

  • intuitive and model based on line programming of Industrial Robots new input devices
    Intelligent Robots and Systems, 2009
    Co-Authors: B Hein, H Worn
    Abstract:

    This paper focuses on the simplification of the on-line programming process of Industrial Robots. It presents in detail the input part of a modular on-line programming environment presented as overview in [1]. Main concept of this programming environment is an intuitive way of moving and teaching Robots, while supporting the user with assisting algorithms like collision avoidance and automatic path planning. Goal is the combination of different approaches from tele-operation, programming by demonstration, Virtual Reality and off-line programming, and to reuse them in a new fashion on-line on the shop-floor. This paper presents some ideas and concepts, how input devices and strategies for robot programming could look like and how to use them to set up an intuitive manual motion control of the robot.

  • intuitive and model based on line programming of Industrial Robots a modular on line programming environment
    International Conference on Robotics and Automation, 2008
    Co-Authors: B Hein, M Hensel, H Worn
    Abstract:

    This paper focuses on the simplification of the on-line programming process of Industrial Robots. It presents a modular on-line programming environment (software and hardware), which supports an intuitive way of moving and teaching Robots, while supporting the user with assisting algorithms like collision avoidance and automatic path planning. Main idea is the combination of different approaches from tele-operation, programming by demonstration and off-line programming, and reuse them in a new fashion on-line on the shopfloor. The proposed programming environment is designed to evaluate the usability of different combination of assisting techniques.