Highly Efficient Control System Enabling Robot Accuracy Improvement

Conference contribution
(Conference Contribution)


Publication Details

Author(s): Buschhaus A, Blank A, Ziegler C, Franke J
Publication year: 2014
Volume: 23
Pages range: 200-205
ISSN: 2212-8271


Abstract


The developed control system utilizes existing network technologies and uses data of sensor systems for continuous process monitoring to derive the robots actual state in course of its movement. In case of a high speed camera the image data is acquired by the control system via a first thread and subsequently the actual robot position is calculated based on this data. At the same time, for determining the robots target state, the system continuously requests the robots nominal position from the robot controller by utilizing a parallel second thread. The information describing the robots actual state is then compared with the sensor data for calculating offset values. These offset values are subsequently filtered and a correction value is calculated. In a third parallel thread new movement instructions are generated, considering the offset values as well as the robots target trajectory. Finally, for remote control of the robot, these movement instructions are transferred to the robot controller. (C) 2014 Elsevier B.V.



FAU Authors / FAU Editors

Blank, Andreas
Lehrstuhl für Fertigungsautomatisierung und Produktionssystematik
Buschhaus, Arnd
Lehrstuhl für Fertigungsautomatisierung und Produktionssystematik
Franke, Jörg Prof. Dr.-Ing.
Lehrstuhl für Fertigungsautomatisierung und Produktionssystematik
Ziegler, Christian Dr.-Ing.
Lehrstuhl für Fertigungsautomatisierung und Produktionssystematik


How to cite

APA:
Buschhaus, A., Blank, A., Ziegler, C., & Franke, J. (2014). Highly Efficient Control System Enabling Robot Accuracy Improvement. (pp. 200-205). Dresden, DE.

MLA:
Buschhaus, Arnd, et al. "Highly Efficient Control System Enabling Robot Accuracy Improvement." Proceedings of the 5th CATS 2014 - CIRP Conference on Assembly Technologies and Systems, Dresden 2014. 200-205.

BibTeX: 

Last updated on 2018-02-08 at 09:23