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Kollisionsbehandlung ALS Grundbaustein Eines Modularen Industrieroboter-Off-Line-Programmiersystems
Paperback
Series: IPA-Iao - Forschung Und Praxis, Book 136
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ISBN10: 354051418X
ISBN13: 9783540514183
Publisher: Springer Nature
Published: Jun 29 1989
Pages: 129
Weight: 0.37
Height: 0.30 Width: 5.50 Depth: 8.50
Language: German
ISBN13: 9783540514183
Publisher: Springer Nature
Published: Jun 29 1989
Pages: 129
Weight: 0.37
Height: 0.30 Width: 5.50 Depth: 8.50
Language: German
Der wirtschaftliche Einsatz von Industrierobotern hängt insbesondere von deren Nutzungszeit ab. Ein maximales Verhältnis der Programmierzeit zur Programmlaufzeit von 183:1 bei herkömmlichen Programmierverfahren lä t erkennen, da der Einsatz bei vielen Anwendungen nur in der Gro serie wirtschaftlich ist. Deshalb werden graphisch-interaktiv unterstützte Verfahren, welche die Programmierzeiten verkürzen, zunehmend an Bedeutung gewinnen. Ein modulares Industrieroboter-Off-line-Programmiersystem für die graphisch-interaktiv unterstützte Programmierung wird anhand eines Anforderungsprofils mit besonderer Beachtung der Kollisionsbehandlung entworfen und dargestellt. Durch die Verwendung von zwei unterschiedlichen Kollisionserkennungsverfahren werden sowohl die Anforderungen für die Planung - kurze Antwortzeiten - als auch für die Off-line-Programmierung - sehr sichere Aussagen über Kollision - berücksichtigt. Angeschlossen ist für beide Verfahren ein Algorithmus zur automatischen Kollisionsvermeidung. Aus den vorbereiteten Modulen lassen sich diejenigen herausziehen, die in Verbindung mit applikationsspezifisch zu entwickelnden Spezialmodulen ein einfach zu handhabendes anwendungsbezogenes Off-line-Programmiersystem ergeben.
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