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Lecture RoboticsProf. Dr.-Ing. K. Rall & Prof. Dr.-Ing. E. López
CONTENTS• 1. Introduction• 1.1 Historical Review• 1.2 Definitions• 1.3 Kinematic Structure• 1.4 Coordinate Systems
• 2. Structure of IR• 2.1 Construction + Drive Tech.• 2.2 Actuators
• 3. Grippers• 3.1 Construction of Grippers• 3.2 Gripper Change Systems
• 4. Controls• 4.1 Measurement Systems• 4.2 Programming of IR
– online– offline
• 4.3 Programming Languages• 4.4 Collision Control
• 5. Sensors• 5.1 ...• 5.2 Optical Sensors• 5.3 Video Technical Devices• 5.4 ...
Prof. Dr.-Ing. K. Rall & Prof. Dr.-Ing. E. LópezTUHH
2 - 2249 - 0
1700 J.D. Vancanson built music playing dolls1805 H. Maillardet designed a picture painting doll1946 G.C.Devol developed a controller which can store electrical
signals, to use them later for the controlling of mechanical devices 1947 Patents for manipulation for the handling of radioactive materials1952 Prototype of a NC-Mashine at MIT demonstrated 1954 C.W. Kenword received a patent for a 2-Arm-Robot1959 First commercial robot (Planet Corporation)1960 First Ultimate Robot (with hydraulic drive, numerical control) installed1966 Tralfa developed and installed color spraying robot1968 “Stakey”, a mobile robot is demonstrated at the Standard Research Institute1971 First purely electrically actuated robot (Standford-Arm)1973 Robot programming language - WAVE was developed1975 First assembly operation by Olevettis SIGMA robots1979 Development of SCARA robots at the Yamanashi university1981 Direct Drive robot developed at the Carnegie Mellon University1984 Several programming systems for development demonstrated 1985 World-wide development of mobile autonomous robots
History of Robots
Prof. Dr.-Ing. K. Rall & Prof. Dr.-Ing. E. LópezTUHH
2 - 2363 - 0
Robot Industrial robot
Like humansLearning
Universally substitutableMotion automataFreely programmableHandling/manipulation production task
Robot and industrial robot in comparison
Prof. Dr.-Ing. K. Rall & Prof. Dr.-Ing. E. LópezTUHH
9 -2248 - 3
AerospaceNuclear scienceUnder water techniqueService industry
Manufacturing, assembly
technique
Applications of Robot-technique 1
Prof. Dr.-Ing. K. Rall & Prof. Dr.-Ing. E. LópezTUHH
9 - 2251 - 3
Autonomy of robot
by
Autonomy of robot
Automatic planning Automatic controlSupervision of performanceRecognition of a conflictDeletion of errors
Prof. Dr.-Ing. K. Rall & Prof. Dr.-Ing. E. LópezTUHH
9 - 2247 - 6
Changing of production basis to flexible production
Requirements leading to Flexible Production Techniques
Short delivery timeIndividuality of productsHigh constant product qualityCompetitive prices
Prof. Dr.-Ing. K. Rall & Prof. Dr.-Ing. E. LópezTUHH
9 - 0477 - 7
Human activity, mechanization and automation
Muscle, tendonsmechanization
Automation
Memory, mind and nerve(control technique)
Semi-Automation(partially functions
from hand)Fully Automation
(all function automatic)
Prof. Dr.-Ing. K. Rall & Prof. Dr.-Ing. E. LópezTUHH
8 -0936 - 8
Definition of automatic machine
An automatic machine is an artificial system,which autonomously follows a program.
Coininsertion
Coin acceptance
Return coin
Goods delivery
yes no
2
Prof. Dr.-Ing. K. Rall & Prof. Dr.-Ing. E. LópezTUHH
9 -1697 - 0
Definition of Industrial Robot (short version)
An Industrial robot is a multi-functional handling device, which is free programmable in several axes
and is able to move workpieces, tools or special devices in such a way,that a specific task will be executed properly.
Prof. Dr.-Ing. K. Rall & Prof. Dr.-Ing. E. LópezTUHH
2 -0479 - 0
Industrial robot
Prof. Dr.-Ing. K. Rall & Prof. Dr.-Ing. E. LópezTUHH
8 - 1518 - 9
Part of car body with weld points
11 points
30 points
21 points
clamp
Industrial robot
43 points
Prof. Dr.-Ing. K. Rall & Prof. Dr.-Ing. E. LópezTUHH
2 - 0480 - 0
Systematic of the handling equipment
Handling equipment
Special devices for Universal devices
Manually controlled
- banker- magazine
- slides- chute- feed
- guide bars- swivel
grippers- turn
devices
- jaws- expanding
mandrel- stepped
clampingplates
- micro-manipulators- tele-manipulators- industrialmanipulators
-specialpurposeequipment
- loading portals
- iron handdelivery devices
- handling automata
- handlingsystem
-assemblyrobot
- spot weldingrobot
- loadingrobots
- arc weldingrobots
- paintingrobots
Storing Changeplace
Change direction Holding
Mater-Slave
devices
Pick and place
devices
Cam-controlledhandling equipment
Robot withpoint to
pointcontrol
Pathcontrolled
robots
Automatically controlled
Fixed operational sequence Programmable operational sequence
Rigidmovement
stop
Adjustablemovementlimitation
Adjustablemovementlimitation
Programmabledesired
position
3
Prof. Dr.-Ing. K. Rall & Prof. Dr.-Ing. E. LópezTUHH
2 - 1698 - 0
Definition of Industry Robot (complete version)
Industrial robots are universally applicable handling devices with severa
axes, whose movements, regarding motion sequence and paths or angles,
are freely (i.e. without mechanical intervention) programmable and if necessary
are sensor-led.
They are equipable with grippers, tools or other
production devices and can execute handling
and/or manufacturing functions
Prof. Dr.-Ing. K. Rall & Prof. Dr.-Ing. E. LópezTUHH
2 - 0290 - 0
Structuring of the mobile Robots according to the type of the guidance
Robot
Stationary Mobile
Not bound to a fixed path Bound to a fixed path
sensor-led
manuallyled
sensor-led
track-bound
inductivelyled
opticallyled
Prof. Dr.-Ing. K. Rall & Prof. Dr.-Ing. E. LópezTUHH
2 - 2826 - 0 Prof. Dr.-Ing. K. Rall & Prof. Dr.-Ing. E. LópezTUHH
2 - 2827 - 0
4
Prof. Dr.-Ing. K. Rall & Prof. Dr.-Ing. E. LópezTUHH
2 - 0564 - 0
Denotation of IR Axes
Robot in basic condition (axes parallel to three-dimensional
coordinate system)
Axes denotation (according to VDI 2861)Axes denotation (according to VDI 2861) Axes denotation (according to VDI 2861)
X horizontal main linear axis, parallel to the first axis of reference coordinate system
Y horizontal mail linear axis, parallel to the first axis of three-dimensional coordinate system
Z vertical main linear axis, parallel to the third axis of reference coordinate system
U linear axis parallel to the X-axis or any linear axisV linear axis parallel to the Y-axis or any linear axisW linear axis parallel to the Z-axis or any linear axisR turnable linear axis (radial axis)Q second turnable linear axis (radial axis) or any
axis
A main axis of rotation parallel to the X-axis or other main axis of rotation*
B main axis of rotation parallel to the Y-axis or other main axis or rotation*
C main axis of rotation parallel to the Z-axisD axis of rotation parallel to the X-axis or any axis
of rotation, preferably 1st rotational secondary axis*E axis of rotation parallel to the Y-axis or any axis
of rotation, preferably 2nd rotational secondary axis*F axis of rotation parallel to the Z-axis or any axis
of rotation, preferably 3rd rotational secondary axis*
S any axisT any axis
Prof. Dr.-Ing. K. Rall & Prof. Dr.-Ing. E. LópezTUHH
2 - 0484 - 0
Motion possibilities of a body in space
Prof. Dr.-Ing. K. Rall & Prof. Dr.-Ing. E. LópezTUHH
2 - 0631 - 0
Kinematic conception of IR working space
Kinematic chain
Joints Limbs
Linear joints
Rotationaljoints
Movablelimbs Frames
Kinematic concept
Variation of the joinSpace
Work space <=movement space
Collision region
Positioning accuracy/manufacturing costs
Mobility/flexibility/Control-expenditure
Prof. Dr.-Ing. K. Rall & Prof. Dr.-Ing. E. LópezTUHH
2 - 2706 - 0
Modules of a robot
- Kinematics- Drives- Controls- Sensors
5
Prof. Dr.-Ing. K. Rall & Prof. Dr.-Ing. E. LópezTUHH
2 - 0565 - 0
Space layout for robots after VDI2861
Driving space
Safety spaceMovement space
Unusable spaceWork space
Extra work spaceMain work space
Prof. Dr.-Ing. K. Rall & Prof. Dr.-Ing. E. LópezTUHH
2 - 0481 - 0
Characteristics and abilities of humans
Characteristics and abilities of humans
Information input
Data processing
Information storage
Information output
Direct communication withexternal world
Human to human
Genes
Sheer perception
Sheer action
Unconscious reaction
Conscious reaction
Reflex
Short time memory
Long-term memory
Speech
Scripts
Gestures, mimics/miming
Prof. Dr.-Ing. K. Rall & Prof. Dr.-Ing. E. LópezTUHH
2 - 2368 - 0
Subsystems of Robots
Subsystems Subfunctions
Kinematics
Functional elements
Control
Drivers
Measuring device
Sensors
Generating the local allocation between workpiece/tool and manufacturing equipment
Access/supply workpiece
Secure position of workpiece while moving
To convert and supply the necessary energy to allmovement axes
Measuring the position, speed and acceleration of single axis
Acquisition of stochastic influences in the surrounding field of IRMeasuring physical magnitudesPattern and position recognition
Prof. Dr.-Ing. K. Rall & Prof. Dr.-Ing. E. LópezTUHH
2 - 0483 - 0
Structure of a workplace with robot
Manufacturingequipment
andorganization
Information
Energy
Material
Measuring system
Control
Drives
Kinematics
Sensors
Information
Energy
Material
System-boundaries of the workplace System-boundaries
of the PHG
6
Prof. Dr.-Ing. K. Rall & Prof. Dr.-Ing. E. LópezTUHH
2 - 1553 - 0
Function of the subsystems
Subsystem Task
Control - Program execution, memory, controlling,monitoring
- Logic combination, manufacture with equipment,peripheral device,
- Other controlsDrives - To convert and transfer the necessary energy to all
movement axes
Kinematics - Spatial correlation of workpiece/tool andmanufacturing equipment
- Start points, travel along of pathsGripper - To grasp and release objects
- Secures the object during movement
Path- and speedacquisition
- Acquisition of stochastic influences from thesurrounding field
Sensors - Acquisition of stochastic influences from thesurrounding field
- Pattern and position recognition
Translation joint Rational joint Movebable limbs Frame
Prof. Dr.-Ing. K. Rall & Prof. Dr.-Ing. E. LópezTUHH
9 - 0630 - 7
Parts of a kinematic chain
Kinematic Chain
Joints Limbs
Prof. Dr.-Ing. K. Rall & Prof. Dr.-Ing. E. LópezTUHH
2 - 1243 - 0
Kinematics of industrial robots
Translational arm
Portal
Folding arm
Bending arm
Cantilever arm
Rotational arm
Prof. Dr.-Ing. K. Rall & Prof. Dr.-Ing. E. LópezTUHH
2 - 2408 - 0
b Possibility of movement bmax= 6
u Restrictions of movement for a joint umin= 1
f Joint degree of freedom f = b – u
F Structural degree of freedom F = ∑ f
7
Prof. Dr.-Ing. K. Rall & Prof. Dr.-Ing. E. LópezTUHH
2 - 0485 - 0
Kinematic chains
1
12
2
233
34
4
(i-1)
(i-1)i
i
open kinematic chain
closed kinematic chain
1223
34
45
51
1
2
3
45
Prof. Dr.-Ing. K. Rall & Prof. Dr.-Ing. E. LópezTUHH
2 - 0486 - 0
Multiple-drives system in serial arrangement
1, 2, 3 - parts of the open kinematic chain
I, II - closed kinematic chain
A12, A23 - actuators for joints 12 and 23
Prof. Dr.-Ing. K. Rall & Prof. Dr.-Ing. E. LópezTUHH
2 - 0487 - 0
Structures with F=1
z
y
x
z
y
x
R T
Prof. Dr.-Ing. K. Rall & Prof. Dr.-Ing. E. LópezTUHH
2 - 0488 - 0
Structures for F=2
TR
RR
RT
TT
8
Prof. Dr.-Ing. K. Rall & Prof. Dr.-Ing. E. LópezTUHH
2 - 0489 - 0
Structures for F=3
TTT TTR TRT RTT
RRT RTR TRR RRR
Prof. Dr.-Ing. K. Rall & Prof. Dr.-Ing. E. LópezTUHH
2 - 0490 - 0
Structure variation for F=3
TTTTTRTRTRTTRRTTTRTRRRRR
P P P PP PPP
P
PP
Jointstructure
Axesstructure 1 2 3 4 5
P
Space-describingstructure
structures withparallel translationalaxes, or three parallelaxes of rotation
structures witha translational axesorthogonal relativeto two parallel axesof rotation orwith an axes ofrotation orthogonalto two orthogonaltranslational axes
Prof. Dr.-Ing. K. Rall & Prof. Dr.-Ing. E. LópezTUHH
2 - 0491 - 0
Positioning with RRR- and TTT-Structure
Z
X
Y
X
Z
Y
Prof. Dr.-Ing. K. Rall & Prof. Dr.-Ing. E. LópezTUHH
2 - 0500 - 0
Industrial robot with TTT-Axes
3
1
1
2
2
3
9
Prof. Dr.-Ing. K. Rall & Prof. Dr.-Ing. E. LópezTUHH
2 - 1952 - 0
Linear axes for handling device
Prof. Dr.-Ing. K. Rall & Prof. Dr.-Ing. E. LópezTUHH
2 - 0501 - 0
Industrial robot with TTR-Axes
3
1
3
2
1
2
Prof. Dr.-Ing. K. Rall & Prof. Dr.-Ing. E. LópezTUHH
2 - 0502 - 0
Industrial robot with TRR-Axes
31
12
3
2
Prof. Dr.-Ing. K. Rall & Prof. Dr.-Ing. E. LópezTUHH
2 - 1695 - 0
Definition SCARA
Rigid (vertical)
Folding wall
Flexible(horizontal)
Rigid
Flexible
SCARA = Selective Compliance Assembly Robot Arm
10
Prof. Dr.-Ing. K. Rall & Prof. Dr.-Ing. E. LópezTUHH
2 - 1953 - 0
SCARA-Robots
Prof. Dr.-Ing. K. Rall & Prof. Dr.-Ing. E. LópezTUHH
2 - 1954 - 0
Swivel (rotating) arm robot SR 800
Axis 1 Axis 2 Axis 3
Axi
s 3
Arm 1 Arm 2
Prof. Dr.-Ing. K. Rall & Prof. Dr.-Ing. E. LópezTUHH
2 - 0503 - 0
Industrial robot with RRR-Axes
Prof. Dr.-Ing. K. Rall & Prof. Dr.-Ing. E. LópezTUHH
2 - 0504 - 0
Special designs of industry robots
33
2
12
1
11
Prof. Dr.-Ing. K. Rall & Prof. Dr.-Ing. E. LópezTUHH
2 - 1858 - 0
2D-displaceable robot
Prof. Dr.-Ing. K. Rall & Prof. Dr.-Ing. E. LópezTUHH
2 - 2624 - 0
Modular handling and positioning system with direct drives
Prof. Dr.-Ing. K. Rall & Prof. Dr.-Ing. E. LópezTUHH
2 - 1889 - 0
Kinematic relation for robot arm
Robot base coordinate system
Effector coordinate system
Effector positionDirect kinematicproblem
(Forward transformation)
Inverse kinematicproblem
(Backwardtransformation)
Effector position(Absolute cartesian coordinates)
Joint vector G(Robot coordinates)
Prof. Dr.-Ing. K. Rall & Prof. Dr.-Ing. E. LópezTUHH
2 - 2037 - 0
Coordinate system of an IR
IndicesW : Global cartesian coordinate systemM : Assembly coordinate systemR : Robot coordinate systemTCP : Tool coordinate system1; 2; 3 : Joint coordinate system
12
Prof. Dr.-Ing. K. Rall & Prof. Dr.-Ing. E. LópezTUHH
2 - 1925 - 0
Industrial robot with RRR-Axes
NPK: reference point offset correction
Prof. Dr.-Ing. K. Rall & Prof. Dr.-Ing. E. LópezTUHH
2 - 1926 - 0
Transformation of cartesian position data in axis information
Backward-transformation
Forward-transformationXwYw Tool coordiante system Θn : Angle between axesZw
Prof. Dr.-Ing. K. Rall & Prof. Dr.-Ing. E. LópezTUHH
2 - 2379 - 0
Arm configuration at joint robots
LEFT and ABOVE RIGHT and ABOVE
LEFT and DOWNRIGHT and DOWN
Prof. Dr.-Ing. K. Rall & Prof. Dr.-Ing. E. LópezTUHH
2 - 1927 - 0
Determination of the axis positions for 3-axis industrial robots
3-axis industrial robotsa) with cartesian work space b) with cylindrical work space c) with spherical work space
• 3 linear joints • 1 rotational joint • 2 rotational joint• 3 linear points • 3 linear points
• Position of the effector • Position of the effector • Position of the effector
• Axis positions • Axis positions • Axis positions2
1
3
sss
zyx
P ==
1
12
12
sincos
sss
zyx
P θθ
==
122
122
122
cossinsincossin
ssss
zyx
P+
==θ
θθθθ
xszsys
===
3
2
1
222
1
1 arctan
yxs
zsxy
+=
=
=θ
222
2
11
1
arccos
arctan
yxs
ssz
xy
+=
−=
=
θ
θ
13
Prof. Dr.-Ing. K. Rall & Prof. Dr.-Ing. E. LópezTUHH
9 - 1928- 1
Kinematics of a rotational joint robot
Axis 1 Axis 2
Axis 3
Axis 4
Prof. Dr.-Ing. K. Rall & Prof. Dr.-Ing. E. LópezTUHH
2 - 2253 - 0
Positioning for axis 1 and 2
With the application of the cosine law the position angles of axis 1 and 2 follow
with
and
with s1, s2 as characteristic data of the kinematic chain
221
221 cos
sinarctanarctanuss
usxyu
+−=
)sin(sin)cos(cos
)sin()cos(
sincos
21211
21211
21
2121
1
111
uususuusus
yx
p
uuuu
sn
uu
sn
++++
==
++
=
=
21
22
21
22
2
22
2arccos
cos)180cos(cos
ssssyxu
uu−−+
=
−=−=γ
221
221 cos
sinarctanarctanuss
usxyu
+−=
Prof. Dr.-Ing. K. Rall & Prof. Dr.-Ing. E. LópezTUHH
9 - 1929 - 1
Kinematics of a 6-axis folding arm robot
Axis 1
Axis 2
Axis 3
Axis 4
Axis 5
Axis 6
Origin
Prof. Dr.-Ing. K. Rall & Prof. Dr.-Ing. E. LópezTUHH
9 - 1931 - 1
Backward transformation for a 6-axis folding arm robot
a) Graph of the transformations for6-axis robots
b) Position of the joint coordianate system
Matrix of transformation:T6= A1 · A2 · A3 · A4 · A5 · A6
c) Joint parameters according to Hartenberg-DenavitJoint Variable θ l d α1 θ1 θ1 0 d1 π/22 θ2 θ2 l2 0 03 θ3 θ3 0 0 π/24 θ4 θ4 0 d4 -π/25 θ5 θ5 0 0 π/26 θ6 θ6 0 d6 0
Coordinate systems
14
Prof. Dr.-Ing. K. Rall & Prof. Dr.-Ing. E. LópezTUHH
9 - 1930 - 1
Ambiguites of the transformation at 6-axes folding arm robot
Axis 4 and 6
Axis 3 and 5
Swiveling range and arm’s position
ROTATION
OVER HEADÍNG MOVEMENT
Orientation of the axis
Orientation of the axis
Arm right
Arm left
positive
positive
negative
negative
Ende Abschn. 1
• Es folgen Reservebilder.
Prof. Dr.-Ing. K. Rall & Prof. Dr.-Ing. E. LópezTUHH
9 - 1549 - 0
Hierarchy of need
Need levels Satisfaction by
Self realization- Realization of one’s own potential- Enlargement and learning progress- Rise of responsibility
Prec
edin
g so
cial
dev
elop
men
t
Self esteem- Professional competence- Independence- Authority to decide
Social contact- Security in the community- Human contact- To be approved
Security need- Long period backup of income forsatisfaction of physiologic needs
- Safety of workplace
Physiology need- Nutrition - Apartment- Clothing
Prof. Dr.-Ing. K. Rall & Prof. Dr.-Ing. E. LópezTUHH
2 -0640 - 0
Num
ber o
f util
ized
robo
ts
Development of industrial robots in Germany 15
Prof. Dr.-Ing. K. Rall & Prof. Dr.-Ing. E. LópezTUHH
2 - 2828 - 0 Prof. Dr.-Ing. K. Rall & Prof. Dr.-Ing. E. LópezTUHH
2 - 2829 - 0
Beginn Abschnitt 2
Prof. Dr.-Ing. K. Rall & Prof. Dr.-Ing. E. LópezTUHH
9 - 2766 - 9
Demands on Robots structure
(distance, form, given points)(cycle time, acceleration, speed)
(weight, inertia, function)
pathtimeforce
exact description: geometricalcinematicaldynamical demandson the robots structure
Necessary
path- time and force- specification have animportant influence on robots structure
flexibility is an additional importantdemand on robots
16
Prof. Dr.-Ing. K. Rall & Prof. Dr.-Ing. E. LópezTUHH
2 - 0492 - 0
Basic structure of Multi-drives system
D1
D2
D3
C
A1
A2
T1
T2
T3
D1
A3
T1
C
T3
A1
D3
D2
T2
A2
parallel serial
D - Drive element, T - Transmission element, A - Actuator, C - Control element, F - frame
F
A3
Prof. Dr.-Ing. K. Rall & Prof. Dr.-Ing. E. LópezTUHH
2 - 0642 - 0
Influence of handling tasks on IR-structure
Palletization of workpieces
Differnt structures for solvingpalletizing tasks
Simplified co-operatin structure
Prof. Dr.-Ing. K. Rall & Prof. Dr.-Ing. E. LópezTUHH
9 - 1875 - 2
Transmission for robot axes of rotation
Spur gears Planetary gears
Harmonic drive AkimCyclo
Duplex worm gear Toothed belt transmission
Prof. Dr.-Ing. K. Rall & Prof. Dr.-Ing. E. LópezTUHH
2 - 0301 - 0
Method of operation of the Harmonic drive
An elliptical body(wave generator)
deforms a flexible,interlocked bodyover the balls andthe bearing cup(flexible spline)
The turn of thewave generator
causes adisplacement of the
meshing region
... results in a fullrotation of the
wave generator atorsion of the
flexible splinesin accordance withthe number of teeth
different...
Since the numberof teeth at thecircular spline
and flexible splineis different...
17
Prof. Dr.-Ing. K. Rall & Prof. Dr.-Ing. E. LópezTUHH
9 - 1051 - 6
Electrical equipment with industrial robots
Advantages Disadvantages- extremely precise - it can be arranged easily in such a way that no movements would easily occur in the case of energy disturbance
- automatic control loops- small noise- inexpensive through standardized components
- strength of three-phase drives
- bad strength and/or power density- frequently cooling equipment often
necessary- adjustable three-phase current drives are complex
- unfavorable dynamic behavior- almost always mechanical transmission necessary
Electrical equipment with industrial robots
Prof. Dr.-Ing. K. Rall & Prof. Dr.-Ing. E. LópezTUHH
9 - 1052 - 6
Pneumatic equipment with industrial robots
Advantages Disadvantages- cheap- easy to install- pneumatic contacts are usuallyavailable
- precise positioning by stops ispossible
- simple control- very reliable- small maintenance costs- not influencable through electrical fields
- limited stokes- reprogramming of the firm installed control units is expensive
- only limited number of programs arepractical
- uncontrolled movement is possible- control chain- noise- air supply is partially problematic(cleanness, constant pressure level)
Pneumatic equipment with industrial robots
Prof. Dr.-Ing. K. Rall & Prof. Dr.-Ing. E. LópezTUHH
2 - 1053 - 0
Hydraulics at Industrial robots
Advantages Disadvantages
- very good strength and/or powerdensity
- good dynamic behavior- closed-loop control systems are practicable
- very reliable- standardized elements are
available
- hazard with circuit break (in particular in the case of high pressure hydraulics)
- oil must be well filtered- leakage- temperature dependence- combustibility of the hydraulic fluid- within some areas not applicable(food industry, hospitals, clean room)
- without mechanical additional equipment there is no automatic locking
Hydraulics at Industrial robots
Prof. Dr.-Ing. K. Rall & Prof. Dr.-Ing. E. LópezTUHH
8 - 1358 - 9
Block diagram of a drive regulation for a direct drive (Slo-Syn)
DC BUSLOGIC
DIRECTDRIVE
MOTOR/RESOLVER
FAULT PROTECTION
SYSTEM CONTROLLER
PHASE CONTROLLER
MOTIONCONTROLLER
FEEDBACKINTERFACEDECODER
I/O
I/O
POWER SUPPLY
AMPLIFIER
serialRS232
EXTERNAL PARAMETERS
PROGRAMMEDCOMMANDS
RS374
POSITIONANOLOG REF
TORQUEVELOCITY
LED INDICATORSOVER TEMP
FEEDBACK LOSSOVER CURRENTGROUND FAULT
REGEN. LOAD DUMPLINE VOLTAGE OUT OF RANGEFAIL SAFE BRAKE INERGIZED POSITIONER/CONTROLLER POWER AMPLIFIER
POWER
A
B
C
DRIVE INHIBITBRAKE CONTROL
LINE INPUT
CONTROLOUTPUT
POSITION FEEDBACK
18
Prof. Dr.-Ing. K. Rall & Prof. Dr.-Ing. E. LópezTUHH
9 - 2767 - 9
Features of Direct drives in Industrial robots
high dealock torques
high positioning accuracy
high dynamics
good maintainability and low wear
good controlability with synchronus drives
Prof. Dr.-Ing. K. Rall & Prof. Dr.-Ing. E. LópezTUHH
2 - 1356 - 0
Evaluation of different drive concepts for direct drives
Synchronous Asynchronous Reluctancedrives drives motors
Dynamics
Overload range
Positioning
Rotary speed region
Degree of efficiency
Torque weight
Standard outlay
Temperature behavior
Drive costs
Converter costs
= good = middle = bad
Prof. Dr.-Ing. K. Rall & Prof. Dr.-Ing. E. LópezTUHH
2 - 1355 - 0
Characteristics of different direct drives
0 20 40 60 80 100 120 140 160
Revolutions per minute RPM n[min-1]
400
300
200
100
Torq
ue
M[N
m]
Permanent-exited direct current motor(INDRAMAT MHT 140)
Reluctance motor(MEGATORQUE 18”)
Three-phaseasynchronous drive(AMK EBM 200)
Prof. Dr.-Ing. K. Rall & Prof. Dr.-Ing. E. LópezTUHH
2 - 1357 - 0
Design of a digital drive control
digital digital(analog)
analog/digital
Static frequency changerComtrol
Drive controller Service part
RPMregulator
Positionregulator
Currentregulator
Transducer
Reference positionvalue
+XS +NS +IS
Real positionvalue-XI
Real RPMvale-nI
M
∼
][
-II Real current value
19
Ende Abschnitt 2
• Es folgen Reservebilder.
Prof. Dr.-Ing. K. Rall & Prof. Dr.-Ing. E. LópezTUHH
2 - 0493 - 0
Components of pneumatic Servo-Drive Systems
3 1 2 4Drive
Measurementsystem
Servo-valve
Gripper or other switching valve
Control
Brake
NC (Numerical Modul) - Drive modul
Beginn Abschnitt 3 Greifer
Prof. Dr.-Ing. K. Rall & Prof. Dr.-Ing. E. LópezTUHH
9 - 2633 - 7
Main functions of a gripper
Main functionsof a gripper Auxiliary functions
Execute a position-securing force on a workpiece
GrippHoldRelease
CenteringOrientingExecuting additionalmovementsCollecting information about workpieces
20
Handlingobject
Handlingequipment
Peripheraldevice
Handlingfunction Environment
Prof. Dr.-Ing. K. Rall & Prof. Dr.-Ing. E. LópezTUHH
2 - 0497 - 0
Factors of influence on gripper construction
AmountMassMaterialTemperatureHandle areas
DimensionsSensitivityFormsMoment of inertiaTolerance
Mounting-position
Storing positionPositioning-
accuracyProcess forcesAccessibilityPreparation timeInset-Withdrawal-
forces
FunctionsLot sizeCycle time
ContaminationMoistureVibrationsTemperature
Position-accuracy
AccelerationType of energyConnection-
dimensionControlPay load
Factors of influence on the gripper construction
Prof. Dr.-Ing. K. Rall & Prof. Dr.-Ing. E. LópezTUHH
9 - 2376 - 6
Interfaces of a gripper arangement
Form
clo
sure
inte
rfac
e
Interface
Inte
rfac
e
Movementsetting
Clamping device for manufacturing equipment
Process
Orders,supply, store setting
Gripper system
Handledobject
Effect part
Grabequipment
Effect part
Environmental influences
Prof. Dr.-Ing. K. Rall & Prof. Dr.-Ing. E. LópezTUHH
2- 0494 - 0
Degrees of freedom between object and gripper
Object
Ball
Cylinder
Disk
f = 5 f = 4 f = 3
f = 4 f = 2
f = 3
f - degree of freedom
Prof. Dr.-Ing. K. Rall & Prof. Dr.-Ing. E. LópezTUHH
2 - 0495 - 0
industrial robot workpiece
controlflange
drive
gripper
kinematicshold system
sensors
Gripper with its Subsystems 21
Prof. Dr.-Ing. K. Rall & Prof. Dr.-Ing. E. LópezTUHH
2 - 0568 - 0
Factors of influence on grippers
Factors of influenceon grippers
Number of grippers- single gripper- multiple gripper
Gripp area- inside- outside
Type of closure- press fit- form closure
Gripper movement- circular- parallel
Gripper principle
Mechanically- scissors gripper- pliers gripper- vice gripper
Fluid- vacuum gripper- sucker- bellow gripper
Magnetically- electromagnet- adjustable permanentmagnet
Other- electrostatic gripper
Prof. Dr.-Ing. K. Rall & Prof. Dr.-Ing. E. LópezTUHH
9 - 0506 - 5
Systematics of the grippers
Singlegripper
Order criterionDual
gripperMultiplegripper
Doublegripper
Turretgripper
1 n2
Press fit/Form closure
Form closurePress fitMaterialclosure Press fit
magnetically fluid electricaladhesive fluid mechanically
elastic finger
flexiblefinger
rigitfinger
circular circular/parallel
transla-tional
2 3 4
central parallel
1
outer inner inner/outerinner outer
- adhesivegripper
- permanentmagnet withmouldedelement
- mechanically selected permanent magnet
- permanent electromagnet- electromagnet- magnet cushionwander field gripper
- vacuumcap
- sucker
- electro-staticgripper
- extension thorn- bending spring
- extension sleeve
- knee joint
- vice - knee joint
- all possiblecombinations
- Number of grippablebodies
- Number of availablegrab area at the body
- Type of closure
- Gripper principle
- Types of fingers
- Jaw movement
- Number of fingers
- Finger movement
- Grab direction
Prof. Dr.-Ing. K. Rall & Prof. Dr.-Ing. E. LópezTUHH
2 - 0496 - 0
operation
number ofworkpieces
1 workpieces
2 workpieces
n workpieces
to only activatetogether
to activateseparately
single gripper
dual gripper
multiple gripper
double gripper
turret gripper
Kinds of the grippers
Prof. Dr.-Ing. K. Rall & Prof. Dr.-Ing. E. LópezTUHH
9 - 2317 - 4
Hold principles of grippers
Hold principles of grippers
Hold by press Hold by form closure
Hold by Friction forces
Hold byNegative
pressure forces
Hold byMagnetic
forces
Hold byIntermolecular
forces
Hold by pairs of form
items
Hold bythroatiness
hooking
- Direct clamping e.g. with compressed air subjected diaphragm
- Indirect clampingby active pressingof mobile items
(gripper finger)- Indirect clamping
by under effectof gravity forceself-lockingmechanisms
- Adhesion suctionapparatus
- Vacuum suctionapparatuses admitted by a vacuum pump
- Venturi nozzle andvacuum suction apparatus (vacuumgeneration throughoverpressure)
- Permanent magnets- Permanent magnets
with electrical field displacement
- Electromagnets
- Adhesion foils - Rigid formelements on the gripper form negative copy from shape of thewokpiece elements
- Flexible modelingjaws are modeled at part form elements
- Pricing of needlesinto the handlingobject
(e.g. textiles,foam material, etc.)
22
Prof. Dr.-Ing. K. Rall & Prof. Dr.-Ing. E. LópezTUHH
2 - 0498 - 0
Gripper with adhesive tape
consumption adhesive tapefresh adhesive tape
pressure bodies
Prof. Dr.-Ing. K. Rall & Prof. Dr.-Ing. E. LópezTUHH
2 - 0507 - 0
Gripper with electromagnet
Prof. Dr.-Ing. K. Rall & Prof. Dr.-Ing. E. LópezTUHH
2 - 0505 - 0
Mechanical enclosure gripper
Prof. Dr.-Ing. K. Rall & Prof. Dr.-Ing. E. LópezTUHH
2 - 0499 - 0
Pneumatic bending finger 23
Prof. Dr.-Ing. K. Rall & Prof. Dr.-Ing. E. LópezTUHH
2 - 0508 - 0
Rotational movement with linear drive
Prof. Dr.-Ing. K. Rall & Prof. Dr.-Ing. E. LópezTUHH
2 - 2377 - 0
Center displacement with scissors grippers
γ = Angle of prismα = Gripper opening angleG = Center of gravity
of the object∆X = Displacement
Prof. Dr.-Ing. K. Rall & Prof. Dr.-Ing. E. LópezTUHH
2 - 0509 - 0
Kinematics for grippers
1 2 3 4
Prof. Dr.-Ing. K. Rall & Prof. Dr.-Ing. E. LópezTUHH
2 - 0510 - 0
Parallel guidance of gripper jaws 24
Prof. Dr.-Ing. K. Rall & Prof. Dr.-Ing. E. LópezTUHH
2 - 0511 - 0
Actuators for gripper functions
Actuator for gripper functions
MO
VEM
ENT
ENER
GY
Drive
ENER
GY rotation
linear
electrical
pneumatic
hydraulic
Actuator for gripper Drive movement1 Electrical drive1.1 Stepping motor rotation1.2 Direct current motor rotation
2 Pneumatic drive2.1 Pneumatic cylinder linear2.2 Pneumatic motor rotation2.3 Swivel cylinders (low number of revolutions rotation
per minute, limited rotation angle)
3 Hydraulic drive3.1 Hydraulic cylinder linear3.2 Hydraulic motor (unlimited rotation angle) rotation3.3 Swivel cylinders (limited rotation angle) rotation
Prof. Dr.-Ing. K. Rall & Prof. Dr.-Ing. E. LópezTUHH
9 - 2323 - 9M
valuationcriteration
pneumatic hydraulic electro-magnetic
electro-motor
High grab force
controllability
transfer ofenergy
sensitivenessagains dirt
Maintenance
Emergencystop behavior
Size
costs
favorable unfavorablemiddle
Advantages and disadvantages of different gripper actuators
Prof. Dr.-Ing. K. Rall & Prof. Dr.-Ing. E. LópezTUHH
9 - 2325 - 9
Flexibility levels of gripper
Prof. Dr.-Ing. K. Rall & Prof. Dr.-Ing. E. LópezTUHH
2 - 0512 - 0
Resetting procedure for gripper
manual resetting automatical resetting
Conversionof forms
Conversion orregulation onform elements
Resetting withelement changing
Resetting withoutelement changing
- Cutting- Casting
- Adjust oflamellapackages
- Adjust ofprisms
- Change ofgripper jaws
- Change ofgripperkinematics
- Change ofcompletegripper
- Magneticpowdergripper
- Vacuumgranulatesgripper
- Many jointsdriven bycables
- A parallelpair of gripperjaws withtactile sensorsin the gripperjaws
Copying withpassive elements(without senors)
Copying withactive elements(with senors)
25
Prof. Dr.-Ing. K. Rall & Prof. Dr.-Ing. E. LópezTUHH
2 - 0559 - 0
Interfaces of gripper
Jaws Fingers Transmission Drive Hhg
HhgDrive
DrillMilling Cutterpencil grinderetc.
Interface
Prof. Dr.-Ing. K. Rall & Prof. Dr.-Ing. E. LópezTUHH
2 - 2254 - 0
Aspects of selection of grippers
Aspects of selection of grippers
1. High power factor (large relation of grab strength to gripper mass)
2. Practicable mechanical and electrical interfaces for lever link and gripper jaws
3. The size spectrum of the grab objects adapted or adaptable gripper stroke/shift with
acceptable closing and open- hours
4. Grab force protection with power failure
5. Small friction losses in transmissions and guidance
6. Possibilities for the kinematic supplement around wrist rotational and sliding axis (short-stroke)
7. Sensitive setting options for jaw movements and forces
8. As contactless query of the end positions of gripper jaws as possible
9. Integrated guidance of supply lines for energy and information
10. Insensitivity in relation to oscillations and impacts or absorption in the end positions
11. Great maintenance intervals
12. High service life
Prof. Dr.-Ing. K. Rall & Prof. Dr.-Ing. E. LópezTUHH
2 - 1034 - 0
Gripper changing system
Prof. Dr.-Ing. K. Rall & Prof. Dr.-Ing. E. LópezTUHH
2 - 2255 - 0
Operation types for gripper change devices
Operation types for gripper change devices
1. Self Actuationuses the movement possibilities of the handling equipment itself(easy, small; actuating forces by IR)
2. Internal Actuationby external drive in the handling equipment (large, heavy; only once necessary
3. External Actuationactuator mounted to the magazine frame(high reliability, smallest influence on IR)
26
Prof. Dr.-Ing. K. Rall & Prof. Dr.-Ing. E. LópezTUHH
2 - 0513 - 0
Change mechanism for permanent electromagnet
1. Stator2. positioning bolt3. housing4. Bushing5. Electromagnet6. Proximity switch
3 4 5
6
2 1 1 2
3
45
6
Prof. Dr.-Ing. K. Rall & Prof. Dr.-Ing. E. LópezTUHH
2 - 0514 - 0
Support element with ball (sphere) adapter
clampedreleasedTool
Prof. Dr.-Ing. K. Rall & Prof. Dr.-Ing. E. LópezTUHH
2 - 0515 - 0
Turret Gripper
Drive
parallel
Conical
Star-shaped
Prof. Dr.-Ing. K. Rall & Prof. Dr.-Ing. E. LópezTUHH
2 - 2322 - 0
Sensors for Grippers
Sensors for grippers
Switching Sensors Measuring sensors
- Switch formovement by mechanical one
(e.g. limit switch)
- Attendance supervision andposition test
- Light barriers- Inductive proximityswitches
- Capacitive proximity switches
- Position measure-ment with linear potentiometer
- Gripper force measurement withstrain gages
- Multidimensional force measurement by strain gages
- Pattern recognition bytactile surface sensors
- Distance measurement by ultrasonic
- Distance measurementby laser triangulation
- Position measurement by video processing
touching contactless touching contactless
ExamplesExamples ExamplesExamples
27
Prof. Dr.-Ing. K. Rall & Prof. Dr.-Ing. E. LópezTUHH
2 - 1520 - 0
Function of robotic control
Description of the environment and the function
Single drivesRobot limbs
Open and/or closed loop control
Strategic model
Coordinate transformation
Internal measurement
External measurement
Individual feed back control
Stan
dard
aut
omat
ic
cont
rol
Rob
ot c
ontro
lA
rtific
ial
inte
llige
nce
p(t)
x(t)
Prof. Dr.-Ing. K. Rall & Prof. Dr.-Ing. E. LópezTUHH
2 - 0520 - 0
Control types
point-to-point control
simple straightcut control
straight cutcontrol
expanded
continuouspath control
tool applicationproblemControl typesDuring tool movement notin mesh
During tool movementin mesh
During tool movementin mesh
During tool movementin mesh
DrillSpotwelding
Rotation (cylindrical)Milling machines(parallel to axis)
Rotation (conical)Milling machines(any straight lines
RotationMilling machinesflame cutting(any line)Path interpolator (according to 2
order or higher degree equation
Path interpolator no necessary
Path interpolator no necessary
with gear switching orlinear interpolar
Prof. Dr.-Ing. K. Rall & Prof. Dr.-Ing. E. LópezTUHH
2 - 0566 -0
Field of application for control with flexible handling facilities
Ranges of path control for handling and assembly
Prescribed path movement
Jerk-free movementwhile carrying heavy
loads
Synchronization with moving object
Following straight lines with non carte-sian handling facilities
Work task Workpiece Peripheral equipment Kinematics
Influence of
Prof. Dr.-Ing. K. Rall & Prof. Dr.-Ing. E. LópezTUHH
2 - 0439 - 0
Linear interpolation Circular interpolation
Parabolic interpolation
Interpolation method
Approximation of a trajectoryby linear interpolation
28
Prof. Dr.-Ing. K. Rall & Prof. Dr.-Ing. E. LópezTUHH
2 - 0413 - 0
Hierarchy of control
Info
rmat
ion
capa
city
Computer integrated Manufacturing
Direct Numerical Control
Computerized Numerical Control
Numerical Control
Beginn Abschnitt 4 „Steuerungen“
Prof. Dr.-Ing. K. Rall & Prof. Dr.-Ing. E. LópezTUHH
2 - 1519 - 0
Present implementation of the control tasks
SimulationHuman as a strategist
Path generationCoordinate transformation
individual automaticcontrollers
single drivesrobot members
Internal measurement Control
+ p(t)soll
++
x(t)soll
Prof. Dr.-Ing. K. Rall & Prof. Dr.-Ing. E. LópezTUHH
9 - 2008 - 7
Direct programming Indirect programmingReal robot system and system
environment necessaryComputer model of robot system and model of the system arenecessary
Manufacturing equipment is not available during programming
Programming in production planning department
Tests of the user programat the real system
Tests of the program throughsimulation
Limited accesses to operational informational systems
Full integration of operational information systems possible
Quality of the user programs dependson the experience of the programmer
Support of the programmer by intelligent computer-based aids
FEATURES OF DIRECT AND INDIRECT PROGRAMMING PROCEDURES
29
Prof. Dr.-Ing. K. Rall & Prof. Dr.-Ing. E. LópezTUHH
2 - 0520 - 0
Control types
point-to-point control
simple straightcut control
straight cutcontrol
expanded
continuouspath control
tool applicationproblemControl typesDuring tool movement notin mesh
During tool movementin mesh
During tool movementin mesh
During tool movementin mesh
DrillSpotwelding
Rotation (cylindrical)Milling machines(parallel to axis)
Rotation (conical)Milling machines(any straight lines
RotationMilling machinesflame cutting(any line)Path interpolator (according to 2
order or higher degree equation
Path interpolator no necessary
Path interpolator no necessary
with gear switching orlinear interpolar
Prof. Dr.-Ing. K. Rall & Prof. Dr.-Ing. E. LópezTUHH
2 - 0525 -0
Types of programming classified for application
Memory content Function
Manualprogramming
Teach-in
Programming withprogramminglanguages
102
104
>106
handling
Welding, painting,coating, palletizing
assembling
object
Prof. Dr.-Ing. K. Rall & Prof. Dr.-Ing. E. LópezTUHH
2 - 0524 - 0
programming
information input
control with
memorycomparison between desired
and actualamplifiers
gripper
driving mechanism with
drive
sensor
position measuring system
Internal and external data processing
external data processing
internal data processing
Prof. Dr.-Ing. K. Rall & Prof. Dr.-Ing. E. LópezTUHH
2 - 0517 - 0
Control structure of industrial robot
Control panelReadout
Memory
Power modulExcitation of drivers
Input/Output
Information processingSequence control
Displacement andvelocity measurement
system
Actuators
Sensoricsperipheral devicesother controls
30
Prof. Dr.-Ing. K. Rall & Prof. Dr.-Ing. E. LópezTUHH
2 - 0521 - 0
overview of robotic motion measuring systems
motion measuringsystem:
digital-incremental(rotational)
functioning
electromechanical : collector with brushes
photoelectrical - grid scanned by photodiode
inductive - index plates of permanentmagnet with Hall generator
synchro transmitters
digital-incremental(translational)
photoelectrical - glass rod with photodiode
linear alarm unit
application as
digital-absolute(rotational)
analog-absolute(rotational)
rotary potentiometer, inductive synchro transmitter spiral potentiometer
electro mechanical - coded disc with brushesphotoelectrical- coded glass disc with photodiodeinductive – index plates of permanent
magnet with Hall generator
optical angle coderinductive angle coder
Prof. Dr.-Ing. K. Rall & Prof. Dr.-Ing. E. LópezTUHH
2 - 0439 - 0
Linear interpolation Circular interpolation
Parabolic interpolation
Interpolation method
Approximation of a trajectoryby linear interpolation
Prof. Dr.-Ing. K. Rall & Prof. Dr.-Ing. E. LópezTUHH
2 - 0413 - 0
Hierarchy of control
Info
rmat
ion
capa
city
Computer integrated Manufacturing
Direct Numerical Control
Computerized Numerical Control
Numerical Control
Prof. Dr.-Ing. K. Rall & Prof. Dr.-Ing. E. LópezTUHH
2 - 0410 - 0
Functions of a DNC system
Bas
ic fu
nctio
nsEx
tend
ed fu
nctio
ns
NC program management
NC data distribution
NC data correction
NC data creation
Data input and processing
Control functions for the flow of materials
Subfunctions of the manufacturing control
31
Prof. Dr.-Ing. K. Rall & Prof. Dr.-Ing. E. LópezTUHH
2 - 0517 - 0
Control structure of industrial robot
Control panelReadout
Memory
Power modulExcitation of drivers
Input/Output
Information processingSequence control
Displacement andvelocity measurement
system
Actuators
Sensoricsperipheral devicesother controls
Prof. Dr.-Ing. K. Rall & Prof. Dr.-Ing. E. LópezTUHH 9 - 2090 - 2
Declaration of section
Program name Mandatory
alternative
alternative
Variable declaration
Value instruction
Mandatory....Movement instruction.... ....
Comment line
Comment line
Statement part
;Mainprogram startMain program
;Main program end
Comment lineSubroutine
Statement part
alternative
;subroutine startUP <Name> (Parameter)Variable declarationValue instruction
....Movement instruction
....
RSPRUNG
Program end END Mandatory
Stop
Program structure of BAPS
Prof. Dr.-Ing. K. Rall & Prof. Dr.-Ing. E. LópezTUHH
2 - 0369 -0
Micro computer
Computation
RAMInput/output
Control
MPU Microprocessor
CPU Central processing unit
MC Micro computer
Control
Micro processor
Accumulator Statussignal
Com-putation
Command-decoder
RegB
RegD
RegC
RegE
Program-counter
internal data bus
External data bus
Reset Control signals Adress bus
Construction Information flow
Prof. Dr.-Ing. K. Rall & Prof. Dr.-Ing. E. LópezTUHH
2 - 0409 -0
Block diagram of MPS085 control (Jungheinrich system)
CentralComputer
12K Eprom4K RAM
Memory16K Eprom
4/8/16 K RAMInterface Interface 32 digital
Input32 digital
output8 analogIn/Output
AxesComputer
4K Eprom0,5K RAM
AxesComputer
4K Eprom0,5K RAM
AxesComputer
4K Eprom0,5K RAM
AxesComputer
4K Eprom0,5K RAM
AxesComputer
4K Eprom0,5K RAM
AxesComputer
4K Eprom0,5K RAM
4 QuadrantPower
Controller
4 QuadrantPower
Controller
4 QuadrantPower
Controller
4 QuadrantPower
Controller
4 QuadrantPower
Controller
4 QuadrantPower
Controller
power supplycomputer
220 V~
power supplycontroller
380 V~
Terminal catridge
printerManual
programmingdevice
Axes 1 Axes 2 Axes 3 Axes 4 Axes 5 Axes 6
basic axes hand axes
R M T G R M T G R M T G R M T G R M T G R M T G
32
Prof. Dr.-Ing. K. Rall & Prof. Dr.-Ing. E. LópezTUHH
9 - 1823 - 1
Classification of measuring systems
According to the measurement principle:
analog digital
absolutemeasuring
ciclicallyabsolute absolute
incremental(as relative
measurement)
in a similar physical size(as resistance test)
after the determination of the measured value:
According to the type mounting of the measuring system:
carriage
Direct-measuring
measurement embodiment
carriage
indirect-measuring
measuring spindle
measuring system
Prof. Dr.-Ing. K. Rall & Prof. Dr.-Ing. E. LópezTUHH
9 - 1822 - 5
Measuring systems
Prof. Dr.-Ing. K. Rall & Prof. Dr.-Ing. E. LópezTUHH
2 - 0519 - 0
Segment disk
A B
cut A-B
Segment disk
photoelectric cellsoutputsegment disk
coding lampparabolic reflector
photo transistor
lens apertureGa As Diode
code disk
Prof. Dr.-Ing. K. Rall & Prof. Dr.-Ing. E. LópezTUHH
9 - 2791 - 9
Prinzip der optischen Abtastung von Strichgittern
5
4
3
2
176
1 Glasmaßstab2 Strichgitter3 Spur mit Referenzmarken4 Optik5 Lichtquelle6 Fotoelement7 Abtastplatte
Teilungsperiode
33
Prof. Dr.-Ing. K. Rall & Prof. Dr.-Ing. E. LópezTUHH
8 - 1515- 9
Principle of the incremental angular sensor
light emitting diode
Lens
lens aperturelens aperture
photo transistor
Division Disk
Voltagesupply
amplifier andSchmitt-triggers
digitaloutput
Prof. Dr.-Ing. K. Rall & Prof. Dr.-Ing. E. LópezTUHH
2 - 2792 - 0
Impulsfolgen und deren Auswertung beieinem mehrkanaligen Inkrementalgeber
Prof. Dr.-Ing. K. Rall & Prof. Dr.-Ing. E. LópezTUHH
8 - 1516 - 9
Principle pattern of a resolver
Generation of theexciter voltage
Interval timers
Recipient Converters
Phase shift
Givers Electronics
Digital signal
URUM
Time
Vol
tage
Prof. Dr.-Ing. K. Rall & Prof. Dr.-Ing. E. LópezTUHH
2 - 1056 - 0
Position systems
Control unit(program)
Control unit(program
Control unit(program
Control unit(program
Performancecontrol
Performancecontrol
Attitudecontrols
Attitudecontrols
ServoAmplifier
Performancecontrol
Servo motor
Stepping motor
Stepping motor
Stepping motor
34
Prof. Dr.-Ing. K. Rall & Prof. Dr.-Ing. E. LópezTUHH
2 - 0444 - 0
Measuring systems
digital incremental measuring system
digital absolute measuring system
similar-absolute measuring system
- small manufacture expenditure
- simple comparators - not expensive- simple zero shift
- absolute measure-indicated
- simple actual value-displays
- stationary zero point- security against
measuring/ transfererrors
- simple measuring system
- simple zero point- simple comparators- absolute measuring
procedure
- no zero point- error propagation- procedure of point
of reference
- expensive- complex- trouble-prone
- A-D-converter is necessary for difficultdigital display
Advantages
Disadvantages
Prof. Dr.-Ing. K. Rall & Prof. Dr.-Ing. E. LópezTUHH
2 - 0518 - 0
Control interfaces
Offline program
Factory networks
CAD
Data protection
Operation
Teach - In
Sensor technology+peripheral device
Power supply
Inputs + Outputs Measuring system
RobotControls
Prof. Dr.-Ing. K. Rall & Prof. Dr.-Ing. E. LópezTUHH
2 - 1493 - 0
Programming process for Industrial Robots
Programming process for Industrial Robots
Direct programming (On-line) Indirect programming (Off-line)
- following acourse (Play-back)
- Driving to and storing of important pathpoints(Teach-in)
- Off-line programming ofprogram execution
- On-line geometry datarecording
- Automatic sensor ledprogramming
- Sensorcontrolled handGuidance
- Implicit- Explicit
- Graphicprogramming
- CAD adaptation
Learning process
Sensor led programming
Hybrid process
Programlanguages
Interactivegraph
Prof. Dr.-Ing. K. Rall & Prof. Dr.-Ing. E. LópezTUHH
2 - 0523 - 0
Programming process for Industrial Robots
Programming of handling systems
Direct programming“Online”
Indirect programming“Offline”
Movement ofHandling System
Video displayinput
Problem orientedprogramming
Machine orientedprogramming
Playback Teach -in
NC-ProgramEditor
Dialog“User’s
Guidance”
e.g.DIN 66026
e.g. ROBEX
35
GO
TO
Communicationinstructions
Prof. Dr.-Ing. K. Rall & Prof. Dr.-Ing. E. LópezTUHH
2 - 0649 - 0
Program structure elements for IR
Geometry Instructions
FlowInstructions
Func
tions
Des
crip
tion
item
s Program structure elements
Control andmonitoringinstructions
Poin
t in
stru
ctio
ns
Path
inst
ruct
ions
Stra
ight
line
in
stru
ctio
ns
Surf
ace
and
spac
ein
stru
ctio
ns
P1
P2
y
x
z
Stop
s
Logi
cal
inst
ruct
ion
Loop
s
Sens
or
inst
ruct
ions
Inpu
t in
stru
ctio
ns
Dis
turb
and
err
orin
stru
ctio
ns
Emer
genc
y st
op
Out
put
inst
ruct
ion
Handling sequence
WRITEKNR.
RT
READKNR.
WIDTHF ?!
SENS1/OFF
SENS3/ON
STOP
Basic instructions
ET 1
BG 1
ET 2
Lage
r
M
M
Assembling SequenceBG 2
BG 3
ET 3
M
1 2 3 4
A B C0 1 010
0 11 1
YzMm>^sXYz
object
Prof. Dr.-Ing. K. Rall & Prof. Dr.-Ing. E. LópezTUHH
2 - 0524 - 0
programming
information input
control with
memorycomparison between desired
and actualamplifiers
gripper
driving mechanism with
drive
sensor
position measuring system
Internal and external data processing
external data processing
internal data processing
Prof. Dr.-Ing. K. Rall & Prof. Dr.-Ing. E. LópezTUHH
2 - 0567 - 0
Programming process for Industrial Robots
manualprogramming Play back Teach in Sensor led Computer
aided
Wrenches
HandleControl console
punched Tape
no computer isnecessaryhigh accuracy ispossible
quick and sampleprogrammingwithout programminglanguages
exact starting ispossibleprocedure in Cartesianscoordinate is possibleRe-programming(update) in steps is alsopossible
hardly describablepaths can be simply
programmedRow materialinaccuracies can besettled
Possible to simulatethe program off-linepartially uniformprogramming languagesimple correctionno deadlock ofthe robots
difficultre-programming
Process expertise isnecessaryCorrection onlypossible by newprogramDifficulties inOptimizationLarge storage
locally programmingstop the system
Sensor and timeare necessary for entry
Exact informationabout toolRobot and surroundingfield are necessaryoptimization locallyCounting expenditure
on-line off-line
Principle
Advantages
Disadvantages
Prof. Dr.-Ing. K. Rall & Prof. Dr.-Ing. E. LópezTUHH
9 - 2228 - 3
Cross Section Distributor
Diode Plug
Plug
OutputFunction
Input: Program Step
36
Prof. Dr.-Ing. K. Rall & Prof. Dr.-Ing. E. LópezTUHH
2 - 0525 -0
Types of programming classified for application
Memory content Function
Manualprogramming
Teach-in
Programming withprogramminglanguages
102
104
>106
handling
Welding, painting,coating, palletizing
assembling
Prof. Dr.-Ing. K. Rall & Prof. Dr.-Ing. E. LópezTUHH
2 - 0526 - 0
Punched card information input for IR
Com
man
d N
o.
Func
tion
1 Horizontal forward rate2 Horizontal feed rate3 vertical lifting4 vertical lifting5 rotating clockwise left6 rotating clockwise right7 close gripper8 Open gripper9 gripper turn left10 gripper turn right11 gripper stroke off12 gripper stroke on13 Intermediate deadlock forwards14 Intermediate deadlock
backwards15 End of Cycle16 Reserve17 Time 0.5 s18 Time 1 s19 Time 2 s20 Time 4 s
Prof. Dr.-Ing. K. Rall & Prof. Dr.-Ing. E. LópezTUHH
9 - 1490 - 9
Teach-In Programming
Prof. Dr.-Ing. K. Rall & Prof. Dr.-Ing. E. LópezTUHH
9 - 1489 - 9
Play-back-programming
Roboter Program frame
37
Prof. Dr.-Ing. K. Rall & Prof. Dr.-Ing. E. LópezTUHH
2 - 0707 - 0
Teach-In programming system
Programming hand device
Decoding Positionmemory
Path calculation
Transformation
Position input
K
+
Computer
Monitor
Keyboard
Cartesiancoordinates
Cartesiancoordinates
Robot coordinates
Auto
Teach
Position input
Teach coordinates
- -
Sensor
Tachometer
Resolver
Prof. Dr.-Ing. K. Rall & Prof. Dr.-Ing. E. LópezTUHH
9 - 0657 - 9
Hand Control Panel
DisplayPKT-Point name with TI positionof the individual axltes programactively notes error messagesVelocity when driving with HGBFast -small jumpSlow - big jump1 reference point2 procedures in space coordinates3 Axis coordinates, machine coordinates4 gripper coordinates
1 transfer of the positions into the pointmemory + Fktt
2 switching to terminals with Fktt3 START operates F1-F8 off4 Fktt for transfer and switching
Operational task
Emergency Stop
Functional stateskeys for axles 1-8
Agreement keySTATUS: Position shows with the TEACHENSTOP: Program is still available, continues
after start
PKT- point name shift
Fktt = function keyTI = teach in
Prof. Dr.-Ing. K. Rall & Prof. Dr.-Ing. E. LópezTUHH
9 - 0527 - 6
Program recording and replay with the teach in procedure
Prof. Dr.-Ing. K. Rall & Prof. Dr.-Ing. E. LópezTUHH
9 - 2256 -6
Advantages of teach-in-procedures
Without deeper understanding for processes by the shop personnel, ownwork programs for running process can be created after a short training period;
program correction can be carried out subseqently during the programtest and require no new programming;
introduction and deletion of individual statements as well as the modificationof parameters are basic function of all considerable teach-in-systems;
collision problems can be prevented to a large extent with this way of programming site;
input of false coordinate is excluded by the derivative of the position of the robot axles.
38
Prof. Dr.-Ing. K. Rall & Prof. Dr.-Ing. E. LópezTUHH
9 - 2257 -6
Disadvantages of teach-in-procedures
In the case of small lot sizes,the proportionate programming times areeconomically no more justifiable;
programming of complicated lines and the optimization of complexprocessing steps are time-consuming processes, those presuppose a
the common programming of the pathes and of the frame program achievesin large sized user programs with conditioned branches a degree of
a separation of the movement programming and the creation of the
meaningful only in those cases if both systems are parts of an integrated system, so that no problems can occur with a subsequent program correction.
great intuition of the programmer;
complexity, wich is nearly unmanageable in most cases;
program framework, i. e. the logical program flow function is
Prof. Dr.-Ing. K. Rall & Prof. Dr.-Ing. E. LópezTUHH
2 - 1498 - 0
Automatic sensor-led programming
Sensor for distanceand orientation
Conducting(Guidance) feed
Prof. Dr.-Ing. K. Rall & Prof. Dr.-Ing. E. LópezTUHH
2 - 0655 - 0
Programming system
Prof. Dr.-Ing. K. Rall & Prof. Dr.-Ing. E. LópezTUHH
9 - 1496 - 7
Pilot actuated hand guidance 39
Prof. Dr.-Ing. K. Rall & Prof. Dr.-Ing. E. LópezTUHH
9 - 0709 - 5
Components of an external programming system
Control
EDITORCreation of thework program
CompilerCreation of an control
independent user program
PostprocessorControl specific
user program
Data bases- Description of the handlingequipment
- Environmental description
Data bases
- Description of the control
Handling equipment
programming system
control system
Prof. Dr.-Ing. K. Rall & Prof. Dr.-Ing. E. LópezTUHH
9 - 2569 - 5
Pros and cons. of external programming
- Reduction of the idle times of robot andperipheral equipment
- comfortable program preparation becauseof computer aid and higher programminglanguages
- easy alteration of programs
- good documentation possible
- Subroutine technique;program jumps possible
- easy alteration of programs
- simple inclusion of external data inputs
Advantages Disadvantages- Complex system configuration
- Missing standardized interfaces
- Problems due to variety of IR-controls
- Lacking of clearness
Prof. Dr.-Ing. K. Rall & Prof. Dr.-Ing. E. LópezTUHH
2 - 0529 - 0
Arrangement of equipment with the storage of pictures
SensorIndustrial
robotcontrol
Workpiece hopperwith separation
Subsequenttreatment
Prof. Dr.-Ing. K. Rall & Prof. Dr.-Ing. E. LópezTUHH
9 - 2008 - 7
Direct programming Indirect programming
Real robot system and system environment necessary
Manufacturing equipment is not available during programming
Tests of the user programat the real system
Limited accesses to operational informational systems
Quality of the user programs dependson the experience of the programmer
Computer model of robot systemand model of the system are necessary
Programming in production planning department
Tests of the program throughsimulation
Full integration of operational information systems possible
Support of the programmer by intelligent computer-based aids
Features of direct and indirect programming procedures40
Prof. Dr.-Ing. K. Rall & Prof. Dr.-Ing. E. LópezTUHH
9 - 0710 - 5
Language structure of industrial robot
Programming languages of industrial robot
Elementarymovement-oriented
Program flow-oriented
World-model-orientedJob-oriented
problem-oriented
direct movement instruction
elementary programflow functions
descriptions of movementfunctionsimple and composeddescription of program flowdescription of robotgeometrydescription of work space
Prof. Dr.-Ing. K. Rall & Prof. Dr.-Ing. E. LópezTUHH
9 - 0656 - 9
Basic elements of the language BAPS
Main program program first statement of a programdeclaration end last statement of a programSubroutine UP name first statement of a programdeclaration RSPRUNG last statement of a program
go absolute movingtrough point... points without delayto point ... points exactly start
Movement shift incremental movinginstruction points without delay
points exacly startlinear linear interpolationPTP point to point proceed
WDH number MAL beginning of the repetitonRepetition with repetition number
WDH_end end of the repetition Caused statement if condition
then statement condition fulfilldelse statement condition not fulfilld
Branch instruction bransch label WAIT value retention time in 0,1 sWAIT UNTIL condition waiting for a condition to be fulfilled
Delay and stop PAUSE program stops, restart necessarilystop end of program
Definition input: X=name X,Y number of the input or outputinput/output output: y=nameValue assignment variable=value i.e. ventil =1 (valve on)
V=value velocity in mm/sVelocity/acceleration A=value acceleration in mm/s2
V_PTP = value velocity für PTP in %Arithmetic, logical +,-,*,/, und, oder, nichtand comparison <, >, <=, >=, <>, =Comment ;
Prof. Dr.-Ing. K. Rall & Prof. Dr.-Ing. E. LópezTUHH 9 - 2090 - 2
Declaration of section
Program name Mandatory
alternative
alternative
Variable declaration
Value instruction
Mandatory....Movement instruction.... ....
Comment line
Comment line
Statement part
;Mainprogram startMain program
;Main program end
Comment lineSubroutine
Statement part
alternative
;subroutine startUP <Name> (Parameter)Variable declarationValue instruction
....Movement instruction
....
RSPRUNG
Program end END Mandatory
Stop
Program structure of BAPS
Prof. Dr.-Ing. K. Rall & Prof. Dr.-Ing. E. LópezTUHH
9 - 1491 - 8
BAPS programming system 41
Prof. Dr.-Ing. K. Rall & Prof. Dr.-Ing. E. LópezTUHH
9 - 1492 - 4
Assembly task
Prof. Dr.-Ing. K. Rall & Prof. Dr.-Ing. E. LópezTUHH
9 - 1497 - 4
PROGRAM MONTAGEINPUT 9=TAKEN ;Binary input sensor at clamp 9=conveyorINPUT 13 = GRIPPER_ON ;Exit signal on clamp 13
DISTANCE = (0,0,100) ;Difference vector with Z=100DRIVE TO OSC_CONV ;Arm movement to the osc. conveyorGRIPPER_ON = 0 ;Close the gripperDRIVE TO OSC_CONV+DISTANCE ;Move to a position above the conveyorWHEN TAKEN = 0 THEN ;The readout on the display:
PAUSE „PART not taken“ (display text);if the pieve was not taken
DRIVE OVER DRILL+DISTANCE ;Reaching the insertion positionDRIVE LINEAR WITH V=10 TO DRILL ;Insert the pin with small velocityGRIPPER_ON = 1 ;Open the gripperWAIT 0.5 ;wait for 0.5 sec
DRIVE OVER DRILL+DISTANCE TO OSC_CONV*DISTANCEEND
Example of a program in BAPS
Prof. Dr.-Ing. K. Rall & Prof. Dr.-Ing. E. LópezTUHH
2 - 0711 - 0
Interfaces for external programming systems
Compiler(processor)
Post processor
codeinterpreter
robot control
Input dataprogramming system
control system
Teach-In sensorsPeripheral device
IRDATA, VDI 2863
VDI 2864
control system
Prof. Dr.-Ing. K. Rall & Prof. Dr.-Ing. E. LópezTUHH
2 - 0852 - 0
Automatic generation of a robot program from CAD data
Direct coupling
CAD System
42
Prof. Dr.-Ing. K. Rall & Prof. Dr.-Ing. E. LópezTUHH
9 - 2380 - 4
Methodology for the programming of assembly robots
- Performances- Sequence ofoperations
- Movement patterns - Resources- Test functions- Flow ofinformation
Structuring of theassembly function
- Program design- Process logic- Control function- Communication- Modularization- Structuring of the
program flow- Coding
Determination of geometricalinformation
- Checking of thetask execution
- Collision control- Optimizationof movements- Testing of strategiesduring troubles
Testing and optimization- Space points
movements- Assembly strategies- Synchronization- Coordination- Velocities- Times
Conversion of the assembly function
User program
Specifications
Modification
Creation of user programs for assembly robots
Automatic operation
Phase 1 Phase2 Phase 3 Phase 4
Specifications Iterative processes
Prof. Dr.-Ing. K. Rall & Prof. Dr.-Ing. E. LópezTUHH
2 - 2643 - 0
Collision
Collision is defined as the temporaland spatial unintentional crash
of 2 bodies, whereby at the momentof meeting at least one body has
a kinetic energy different than zero
Prof. Dr.-Ing. K. Rall & Prof. Dr.-Ing. E. LópezTUHH
2 - 1060 - 0
Variables which influence collisions
Collision objects Collision pointsof time
Collision spaces
Spatial properties
Collision
Temporalbehavior
Collision causes
WER? WANN?
WO? WARUM?
Graphic visual
Visual assessment
Prof. Dr.-Ing. K. Rall & Prof. Dr.-Ing. E. LópezTUHH
2 - 1059 - 0
Methods of the collision control
COLLISION CONTROL
OFFLINE ONLINE
CAD-Functions
Boolean Connection
Mathematical
Algorithms
Direct
Robot external sensor data
Indirect
Robot internal sensor data
CAD Model
CAD Model
MathematicalModel
Real environment
Simple mathe-matical model
MathematicalModel ... Selected
points
Description of environmentDescription of robots
43
Exact model (3rd step)
Mean model (2nd step)
Prof. Dr.-Ing. K. Rall & Prof. Dr.-Ing. E. LópezTUHH
2 - 1058 - 0
Methods for the collision test during off-line programming
Test method
mathematical graphic visual use of CAD functions
Rough model (1st step)
Prof. Dr.-Ing. K. Rall & Prof. Dr.-Ing. E. LópezTUHH
2 - 1057 - 0
Strategy for an automatic collision test
Call of the collision test
Information retrieval
Collision test,1st step
Collision ?
Collision test, 2nd step
Collision ?
Collision test, 3rd step
Collision ?
Output of theinformation about
free collision
Output of collisioninformation
Leave of the collision test
no
no
no
yes
yes
yes
Mathematical test
Simple model Simple algorithms- 1 wrapping body - Gravitation points per axle comparison
- fewer wrapping - Distance to thebody for the straight lineenvironment
Mathematical test
Mean model Mean algorithms- several wrapping - Calculation focal
body per axle straight line- some wrapping - Piercing points
body for the - Line segmentsenvironment
Graphic visual test
Exact model Exact model- CAD model in - Use of CADaccordance with auxiliary modeling by the functionsuser
Prof. Dr.-Ing. K. Rall & Prof. Dr.-Ing. E. LópezTUHH
2 - 0228 - 0
Analogy of the automatic control loops of industry processes and human
Processenvironment
MachinesSensor
Information processing
Environment
LimbsSensoryperception
Brain
Prof. Dr.-Ing. K. Rall & Prof. Dr.-Ing. E. LópezTUHH
2 - 2258 - 0
Sensors
Sensor system = sensor + transducer + amplifier (+ evaluation)Problems in production, for the direct application of sensors:1. Production runs are not always 100% automizable
the remainder workstation are unsatisfactory for humans, since
2. Not sufficiently flexible devices are for automation for the order.one-sided load of humans through check or difficult assembly work.
3. The actual process,but also the peripheral mechanism do not onlyhave to be automated.
From this result 3 principal reasons for the use of sensors withassembling and handling functions:
1. Monitoring of the process variables (forces, length etc.), around processerrors if necessary promptly to detect.
2. Log (and analysing) from process variables, over from it trends´s able to derive
3. Correct the process variables and a monitoring of the correction.
44
Prof. Dr.-Ing. K. Rall & Prof. Dr.-Ing. E. LópezTUHH
2 - 0530 - 0
Subsystems of a sensor
SENSOR
- with contact- without contact
- Analog-Digital- Digital-Analog- Pulse count
- Linear- Nonlinear
- Measurement - result
Receivers Transducers Amplifiers Analysis
Prof. Dr.-Ing. K. Rall & Prof. Dr.-Ing. E. LópezTUHH
2 - 0521 - 0
Overview of robotic motion measuring systems
motion measuringsystem:
digital-incremental(rotational)
functioning
electromechanical : collector with brushes
photoelectrical - grid scanned by photodiode
inductive - index plates of permanentmagnet with Hall generator
synchro transmitters
digital-incremental(translational)
photoelectrical - glass rod with photodiode
linear alarm unit
application as
digital-absolute(rotational)
analog-absolute(rotational)
rotary potentiometer, inductive synchro transmitter spiral potentiometer
electro mechanical - coded disc with brushesphotoelectrical coded glass disc with photodiodeinductive – index plates of permanent
magnet with Hall generator
optical angle coderinductive angle coder
Prof. Dr.-Ing. K. Rall & Prof. Dr.-Ing. E. LópezTUHH
2 - 0672 - 0
Modulation procedure
Carrier pulse Harmonious carrier
(Primary)(Signal function)
Prof. Dr.-Ing. K. Rall & Prof. Dr.-Ing. E. LópezTUHH
2 - 0412 - 0
Properties of the different signal representation methods
Amplitude analog Digital Frequency-analogMeasured signal is transferredto an amplitude valueDisturbances of the measuredsignal by electricalinterferenceMultiplexer, filter, sample-hold-circuit and analog/digitalconverter requiredCycle-time of the sensor-sampling will be stronglyinfluenced by the multiplexersample-hold-circuit and A/D-converterParallel instrumentation ofmultiple signal-channels isvery expensiveCentral multiplexer and A/D-converter diminish thereliability of the system
Measured value is transferredto a data-work of a certainlengthDisturbance-free transfer viadata-protection using suitablecodesGreater bandwidth neededMeasured signal in computer-compatible form availableDigitally optimized systemconceptEasier connection of alldigital system components tothe computer via busProcess disturbances of thebus lead to failure of thecomplete systemRestrictions of the dynamicproperties
Measured value will beconverted into a frequencyand/or period-length of pulse-durationPrecise and non-sensitive todisturbance signal transferOffset voltages and –flowscause no loss of accuracySimple and cheap digitizingusing a counter circuitThere can be afrequency/digital converterassigned to every measuringchannelLow-cost instrumentation ofmultiple parallel signal-channelsExtended reliabilityRestricted dynamic properties
45
Prof. Dr.-Ing. K. Rall & Prof. Dr.-Ing. E. LópezTUHH
2 - 0584 - 0
Distance-measuring systems for Industrial Robots
Sensors
Optical
Acoustical
Inductive
Capacitive
Tactile
Distance range Sensibility against malfunction
Distance in mm
Tem
pera
ture
Ligh
ting
Dust
Noise
Vibr
ation
Elec
trica
l fiel
ds
Prof. Dr.-Ing. K. Rall & Prof. Dr.-Ing. E. LópezTUHH
2 - 0533 - 0
Possibilities of applications for Industrial Robots with tactile sensors
Sensor without contact and tactile sensors
Recognition andcorrection of
position errors
- Assembly (putting partstogether, joining)- Finding of bore holes- Recognition ofsurfaces and edges- Positioning of thegripper to the object- Getting a workpieceout of the bunker-storage
Carrying out ofsimple movements
- Inserting of a pininto a bore hole
- Latching cranksand joints
- Adjustment- Testing the
movability ofassembled modules
Recognition ofsequence-disturbances
- Collisions- Overloading- Errors of the
contour of theworkpiece
Making programming easier
- Tracking-controlfor following edges
- Force-reduction bypath-programming
- Gripping-forcecontrol
Recognition and classification of workpieces
- Recognition of3-dimensionalpatterns
- Organize- Qualification of weight
Prof. Dr.-Ing. K. Rall & Prof. Dr.-Ing. E. LópezTUHH
2 - 0532 - 0
constructions of tactile sensors
tactile sensors
measuring of single variables(force, moment, route,...)
strain gages piezo-sensorpneumatic converters,capacitive sensorspotentiometers
automated insertion- andassembly processes
position-recognition in automatedmanufacturing and assembly installations
pattern recognition
analog position- andcomposition measuring
2-dimensional
pressure-sensitiveplastics-matrix
inductive pin-matrix
inductive sensor-pinsembedded threads
3-dimensional
Prof. Dr.-Ing. K. Rall & Prof. Dr.-Ing. E. LópezTUHH
2 - 0624 - 0
Schematic insertion process 46
Prof. Dr.-Ing. K. Rall & Prof. Dr.-Ing. E. LópezTUHH
2 - 0534 - 0
Passive-insertion support
Gripperconnection
Workpiece
RCC-rotationalpart
Translationalpart
Rotational part
Remotecenter
Prof. Dr.-Ing. K. Rall & Prof. Dr.-Ing. E. LópezTUHH
9 - 0535 - 9
6-Components sensor for robotarms
x
yz
Px+
Qy+
Qx+Qy-
Py-
Prof. Dr.-Ing. K. Rall & Prof. Dr.-Ing. E. LópezTUHH
9 - 1890 - 1
MOS - Condensator
metal (transparent) layer (gate)p-
type
silic
on
SiO2
Prof. Dr.-Ing. K. Rall & Prof. Dr.-Ing. E. LópezTUHH
2 - 0536 - 0
Operating modes of glass-fiber conductors
Principle of glass-fiber
Transmitted light
Reflex
47
Prof. Dr.-Ing. K. Rall & Prof. Dr.-Ing. E. LópezTUHH
2 - 0537 - 0
localization of cast burr
Signal
fiber-glass cross-sectionalarea converter
Prof. Dr.-Ing. K. Rall & Prof. Dr.-Ing. E. LópezTUHH
2 - 0538 - 0
Tube of a TV camera
converter layer
transparentfront plate
(signal plate)focusing coil
steering coil
electronic beam
cathodepicture signal
scene
Prof. Dr.-Ing. K. Rall & Prof. Dr.-Ing. E. LópezTUHH
2 - 0258 - 0
object detection with a semiconductor - diodes row
diodes row
conveyor belt
movement direction
workpiece
photo electrode
Prof. Dr.-Ing. K. Rall & Prof. Dr.-Ing. E. LópezTUHH
2 - 0539 - 0
CCD - picture sensor
transfer
integration
transfer electrode
photo electrode transfer electrode
sensor range transport range
sensor range transport range
48
Prof. Dr.-Ing. K. Rall & Prof. Dr.-Ing. E. LópezTUHH
2 - 1891 - 0
Potential sequence by 3-phase CCD
G1 G2 G3 G1 G2 G3
p-ty
pe si
licon
SiO
2
L1L2L3
Prof. Dr.-Ing. K. Rall & Prof. Dr.-Ing. E. LópezTUHH 2- 1072- 0
Information processing in CCD
Column A B C D
Row
1
2
3
4
Horizontal analog transfer register
P=Photosite Vertical analog transfer register
P V P V P V P V
Prof. Dr.-Ing. K. Rall & Prof. Dr.-Ing. E. LópezTUHH 2- 0702- 0
Luminosity (light) signal digitilization of an image line
tT0
U
1111111011011100101110101001100001110110010101000011001000010000
bright
dark
Prof. Dr.-Ing. K. Rall & Prof. Dr.-Ing. E. LópezTUHH
2 - 0540 - 0
Rotation-independent feature criteria
single point center of gravity length contour form contour
surfacesilhouette
number ofsurface hole
moment ofinertia
circumscriptionrectangle
49
Prof. Dr.-Ing. K. Rall & Prof. Dr.-Ing. E. LópezTUHH 2- 0701- 0
Polar check for workpiece identification
Workpiece
Center of gravity ofthe surfaceAngle of reference
Angular sequence
Measurement circle
Prof. Dr.-Ing. K. Rall & Prof. Dr.-Ing. E. LópezTUHH
9 - 0703 - 6
Computer components of an image preprocessing system
pre-processing
picturestorage
micro-processor
arithmetic-processor
ROM/RAMprogram anddata memory
Interface
camera
terminal
Prof. Dr.-Ing. K. Rall & Prof. Dr.-Ing. E. LópezTUHH
9 - 0626 - 4
optical workpiece identification sensors
Scene for workpiece identification sensorsrecognition only with existing systems
more workpieces in imagearea trial partly in contact
more workpieces in imagearea trial partly not in contact
one workpiece in image area
camera
camera
camera
recognition so far only in trial partly possible
workpieces in disorder and oneupon the other in the memory
one layer workpieces in trial partlyupon the other
camera
camera
Prof. Dr.-Ing. K. Rall & Prof. Dr.-Ing. E. LópezTUHH 2- 1859- 0
Triangulation process
Measuring amplifier PSI
Lase
r lig
ht so
urce
Row of diodes
Optic
MR - measurement regionMD - Measurement distance
MR
MD
50
Prof. Dr.-Ing. K. Rall & Prof. Dr.-Ing. E. LópezTUHH 2- 1860- 0
Control of securing with laser scanner
PSI
Lasermeasuring
head
Measurement region
Wantedpattern
Read in outline
Ring gap
Montage holeMontage hole
51