KL-Regelungstechnik-Seminar  /  5.2.2019

Kalibrierung von Industrierobotern zur Steigerung der absoluten Positioniergenauigkeit

Abstract:

In der vorliegenden Masterarbeit wird ein Modell zur Verbesserung der Absolutgenauigkeit des Industrieroboters FANUC M-20iA vorgestellt. Dazu wurde die kinematische Kette des Industrieroboters modelliert und dieses Modell so erweitert, dass durch Kalibrierung geometrische Fehler und Durchbiegungseffekte ausgeglichen werden können. Ferner wurde untersucht, wie die für die Kalibrierung verwendeten Roboterkonfigurationen sinnvoll ausgewählt werden können. Abschließend wurde mithilfe von Testmessungen gezeigt, dass das nicht modellierte Umkehrspiel einen signifikanten Einfluss auf die Absolutgenauigkeit hat, und die Schwierigkeiten in der Modellierung und Untersuchung des Umkehrspiels aufgezeigt.

The seminar »KL-Regelungstechnik« (Kaiserslautern – Control Theory and Control Engineering) is organized by our department as well as several research groups of the TU Kaiserslautern:

  • Technomathematics (Dep. of Mathematics)
  • Mechatronics in Mechenical and Automotive Engineering (Dep. of Mechanical and Process Engineering)
  • Automation Control (Dep. of Electrical and Computer Engineering)
  • Electromobility (Dep. of Electrical and Computer Engineering)

The seminar takes place at the ITWM every 1st Tuesday of a month (besides holidays and summer break). Aims are broadening of experiences and exchange of scientific views – also beyond the organizing groups.

Typical subjects of talks are:

  • ongoing or recently finished graduations and doctoral theses
  • current research and projects

The topics vary from mathematical methods to technical implementations. Usually, the talks present research results. However, some show open issues for brainstorming and inputs from the audience.

The seminar »KL-Regelungstechnik« (Kaiserslautern – Control Theory and Control Engineering) is organized by our department as well as several research groups of the TU Kaiserslautern:

  • Technomathematics (Dep. of Mathematics)
  • Mechatronics in Mechenical and Automotive Engineering (Dep. of Mechanical and Process Engineering)
  • Automation Control (Dep. of Electrical and Computer Engineering)
  • Electromobility (Dep. of Electrical and Computer Engineering)

The seminar takes place at the ITWM every 1st Tuesday of a month (besides holidays and summer break). Aims are broadening of experiences and exchange of scientific views – also beyond the organizing groups.

Typical subjects of talks are:

  • ongoing or recently finished graduations and doctoral theses
  • current research and projects

The topics vary from mathematical methods to technical implementations. Usually, the talks present research results. However, some show open issues for brainstorming and inputs from the audience.

The seminar »KL-Regelungstechnik« (Kaiserslautern – Control Theory and Control Engineering) is organized by our department as well as several research groups of the TU Kaiserslautern:

  • Technomathematics (Dep. of Mathematics)
  • Mechatronics in Mechenical and Automotive Engineering (Dep. of Mechanical and Process Engineering)
  • Automation Control (Dep. of Electrical and Computer Engineering)
  • Electromobility (Dep. of Electrical and Computer Engineering)

The seminar takes place at the ITWM every 1st Tuesday of a month (besides holidays and summer break). Aims are broadening of experiences and exchange of scientific views – also beyond the organizing groups.

Typical subjects of talks are:

  • ongoing or recently finished graduations and doctoral theses
  • current research and projects

The topics vary from mathematical methods to technical implementations. Usually, the talks present research results. However, some show open issues for brainstorming and inputs from the audience.