Automatische Bahnplanung für die Aufteilung von Prozessbewegungen in synchrone Werkstück- und Werkzeugbewegungen mittels Multi-Roboter-Systemen

Description

The research focus of this thesis is a concept for the division into synchronously executed movements of workpiece and tool that can be implemented for different proprietary control concepts without intervening in their control level. For this purpose, a universal approach is being developed that can be integrated into offline programming software and automatically generates the programs for the participating robots. The approach also includes the ability to scale and limit the division to suit the specific requirements of different applications. Consequently, a targeted division to the individual robots as well as the consideration of process-related boundary conditions, such as a constant workpiece orientation or a restriction of the Cartesian workspace, can be implemented.

The division approach is implemented as an example for a set-up with two articulated arm robots and a set-up with a two-arm robot and evaluated extensively. General and application-specific investigations are carried out with regard to the influence of the cooperation on the processing accuracy, the process time and on the workpiece-related reachability.