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Optische Sensorsysteme Zur On-Line-Führung Von Industrierobotern by Wolfgang Ruoff

Optische Sensorsysteme Zur On-Line-Führung Von Industrierobotern

by Wolfgang Ruoff
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Book cover type: Paperback
  • ISBN13: 9783540517443
  • Binding: Paperback
  • Subject: N/A
  • Publisher: Springer
  • Publisher Imprint: Springer
  • Publication Date:
  • Pages: 123
  • Original Price: EUR 51.39
  • Language: German
  • Edition: N/A
  • Item Weight: 168 grams
  • BISAC Subject(s): Engineering (General)

Zur wirtschaftlichen und flexiblen Automatisierung von Bear- beitungsvorgangen wie Schleifen, Lackieren, Kleben, Entgraten, SchweiBen oder Abdichten ist der Einsatz numerisch bahngesteu- erter Industrieroboter erforderlich. Urn bei immer kurzeren Fertigungszeiten gleichbleibende oder sogar steigende Quali- tatsanforderungen zu erfullen, ist die Kontrolle und Regelung technologischer GraBen notwendig. Daruberhinaus mussen auch geometrische GraBen, wie beispielsweise die vorhandenen Lage- und Formtoleranzen jedes einzelnen Werkstucks erkannt, be- rucksichtigt und kompensiert werden. Die Anpassungsfahigkeit der Bewegungsbahn eines Industriero- boters an die speziellen Gegebenheiten wird wesentlich von den zur Verfugung stehenden Moglichkeiten zur Bahnprogrammie- rung mitbestimmt. Bis heute erfolgt die Programmierung einer Bahn in der Regel punktweise im sogenannten Teach-In-Betrieb /1/. Wahrend der Abarbeitung eines Programmes wird zwischen den vorgegebenen Stutzpunkten eine Bewegungsbahn mit Hilfe von Interpolationsalgorithmen generiert. Die Moglichkeit einer werkstuckspezifischen Bahnkorrektur besteht dabei nicht. Urn - MaBabweichungen innerhalb einer Serienfertigung durch individuelle Beeinflussung der programmierten Bewegungs- bahnen zu kompensieren, - eine Reduzierung des Programmieraufwandes zu erreichen, - Werkstucke zu vermessen, oder nach erfolgter Bearbeitung - eine umfassende Qualitatskontrolle durchzufuhren, sind "intelligente", anpassungsfahige Sensorsysteme erforder- lich. Sie bestehen aus MeBwerterfassungs- und MeBwertaufberei- tungskomponenten. Nachfolgend wird zur Erfassung bzw. zur Da- tengewinnung ein MeBkopf oder ein MeBsystem und zur Aufberei- - 1- tung ein Sensorrechner eingesetzt. Die Aufgabe des Rechners besteht darin, fUr die nachgeschaltete Robotersteuerung genau diejenigen GroBen zu berechnen und bereitzustellen, die zur Generierung angepaBter Bearbeitungsprogramme notwendig sind. Bei der Auswahl der Komponenten mUssen die Randbedingungen der MeBaufgabe berUcksichtigt werden.

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