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Efficient commissioning of cooperating assembly-robots enabled by Indoor-GPS

通过室内 GPS 实现协作装配机器人的高效调试

基本信息

批准号：
182894942
负责人：
Professor Dr.-Ing. Robert Schmitt
金额：
--
依托单位：
Forschungsbereich Fertigungsmeßtechnik und Qualitätsmanagement
依托单位国家：
德国
项目类别：
Research Grants
财政年份：
2010
资助国家：
德国
起止时间：
2009-12-31 至 2017-12-31
项目状态：
已结题

来源：
https://gepris.dfg.de/gepris/projekt/182894942?language=en
关键词：
Efficient commissioning cooperating assembly robots

项目摘要

The research project aims to facilitate the commissioning of Indoor-GPS enabled cooperating assembly robots. During the projects initial two year research period, the Indoor-GPS was integrated into the simulation environment and an Indoor-GPS based robot position control system was implemented. The second research period builds upon the previous results to develop new methods for the use of Indoor-GPS system to further streamline the commissioning process. Monitoring the line of sight needs to be used to verify the metrological capability. Modeling measurement uncertainty in early planning phases before commissioning the real system decreases the effort spent on commissioning. Achieving these objectives requires addressing the following areas of action: Based on a new developed method of an dynamic tolerance-chain-analysis the assembly system performance can be compared and verified to the assembly-process-requirements A new description-language for movement requirements of assembly processes will be developed. For integrating the Indoor-GPS into the tolerance chain analysis the uncertainty must be modeled. The information out of this model provides a basis to estimate the best possible configuration of the Indoor-GPS incl. the assembly station setup on a self optimization strategy. An additional aim is the compensation of the deformation of elastic components because of gravitation and process forces. This is performed by a model of the behavior of the components. The model is described mathematically and filled with information of a force and torque measurement which record the specific forces. The dynamic tolerance chain analysis is a tool that integrates the individual models into a single system for the application of methods of self-optimization. This enables the design and the qualitative evaluation of an effective commissioning and reconfiguration of complex assembly systems during an early planning phase. This action allow the construction of a robot-based coordinate measuring device and the controlled assembly of elastic components.

该研究项目旨在促进室内GPS启用协作装配机器人的调试。在项目最初的两年研究期间，室内GPS被集成到仿真环境中，并实现了基于室内GPS的机器人位置控制系统。第二个研究阶段是在以前的研究成果的基础上，开发使用室内GPS系统的新方法，以进一步简化调试过程。需要使用监控视线来验证防反射能力。在调试真实的系统之前的早期规划阶段对测量不确定性进行建模可以减少调试所花费的工作量。实现这些目标需要解决以下几个方面的行动：基于一个新开发的方法的动态公差链分析的装配系统的性能可以进行比较和验证的装配过程的要求一个新的解释语言的运动要求的装配过程将被开发。为了将室内GPS集成到公差链分析中，必须对不确定性进行建模。该模型的信息提供了一个基础，以估计最佳配置的室内GPS包括。装配工位设置采用自优化策略。另一个目的是补偿弹性部件由于重力和过程力而产生的变形。这是由组件行为的模型执行的。该模型在数学上进行描述，并填充了记录特定力的力和扭矩测量的信息。动态公差链分析是一种工具，它将各个模型集成到一个单一的系统中，以应用自优化方法。这使得在早期规划阶段能够设计和定性评估复杂装配系统的有效调试和重新配置。该动作允许构造基于机器人的坐标测量装置和弹性部件的受控组装。