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Verfahren zur Steigerung der Zuverlässigkeit und Sicherheit von Industrierobotern

Methods to Improve the Redundancy and Safety of Industrial Robots

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Sehr fortgeschrittene Handhabungssysteme

Part of the book series: Fachberichte Messen · Steuern · Regeln ((FACHBERICHTE,volume 9))

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Summary

The operation of industrial robots implies some risks because malfuntions in the control system can cause self destruction of the robot mechanics or unexpected obstacles in the robot environment can provoke a collision. These risks can be met in two fundamentally different ways: by the introduction of fault-tolerant or robust system structures and by the application of collision avoiding control algorithms. Compared to the large number of publications on various aspects of robot control (e. g. positioning, decoupling etc.) the security and reliability problems are rather neglected. Therefore, the aim of this paper is to give a short but comprehensive survey on synthesis principles and usage possibilities and to provide first experimental and simulation results.

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Authors and Affiliations

  1. Fraunhofer-Institut für Informations- und Datenverarbeitung (IITB), 7500, Karlsruhe, Deutschland

    H.-B. Kuntze & W. Schill

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  1. H.-B. Kuntze
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  2. W. Schill
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  1. Fraunhofer-Institut für Informations- und Datenverarbeitung IITB, Sebastian-Kneipp-Straße 12/14, 7500, Karlsruhe 1, Deutschland

    Peter-Joachim Becker

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Kuntze, HB., Schill, W. (1984). Verfahren zur Steigerung der Zuverlässigkeit und Sicherheit von Industrierobotern. In: Becker, PJ. (eds) Sehr fortgeschrittene Handhabungssysteme. Fachberichte Messen · Steuern · Regeln, vol 9. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-82315-2_5

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  • DOI: https://doi.org/10.1007/978-3-642-82315-2_5

  • Publisher Name: Springer, Berlin, Heidelberg

  • Print ISBN: 978-3-540-13594-4

  • Online ISBN: 978-3-642-82315-2

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