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Fast sensor guidance of industrial robots – experimental results

Published online by Cambridge University Press:  01 January 1999

Klaus Feldmann ,
Matthias Wenk  and
Josef Zeller
Klaus Feldmann
Affiliation:
Institute for Manufacturing Automation & Production Systems, University of Erlangen-Nuremberg, Egerlandstr. 7–9, 91058 Erlangen, Germany. E-mail: feldmann, wenk and zeller@faps.uni-erlangen.de
Matthias Wenk
Affiliation:
Institute for Manufacturing Automation & Production Systems, University of Erlangen-Nuremberg, Egerlandstr. 7–9, 91058 Erlangen, Germany. E-mail: feldmann, wenk and zeller@faps.uni-erlangen.de
Josef Zeller
Affiliation:
Institute for Manufacturing Automation & Production Systems, University of Erlangen-Nuremberg, Egerlandstr. 7–9, 91058 Erlangen, Germany. E-mail: feldmann, wenk and zeller@faps.uni-erlangen.de
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Abstract

For securing and increasing the quality of various material processing technologies a flexible sensor data integration is indispensable. Hence, a powerful and configurable sensor-robot-system was designed and implemented, integrating sensor data into industrial robot controls within the interpolation or the position control clock rate. Different controllers were designed and the system responses of the control loops were simulated and optimized by an efficient control design tool. Experimental results on the achievable path accuracy are presented. Finally, some application for the developed sensor control loops are introduced.

Keywords

Sensor guidanceIndustrial robotsProcessing technologiesControl loops
Type
Research Article
Information
Robotica , Volume 17 , Issue 1 , January 1999 , pp. 17 - 21
Copyright
© 1999 Cambridge University Press

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