Knowledge Base

 

Temperature compensation

For special robot applications like the honing of bore holes or the continuous quality control guaranteed by flexible inline measuring techniques, it is important that the kinematics of the robot is kept constant for a long period of time – for month...

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Offline programming

In order to apply offline programming (OLP) effectively, there are two preconditions which represent a “must” in this case.

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Maintenance

The aim is to keep a producing plant running – preferably without costly downtimes. For this reason, maintenance work as a result of a crash or a replacement of components should be standardized and carried out as fast as possible.

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Car Coordinate System

The origin of the component’s coordinate system of a car is located between the driver and the co-driver. In this case, the x-axis points to the driving direction, the y-axis from the co-driver to the driver and the z-axis upwards to the car roof.

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Calibration into component’s coordinate systems

Calibration into component’s coordinate systems

In the case of a manual teach-in or the offline programming of robot programmes, every operating point of the robot concerning the component’s coordinate system is stored. A very common example for this is the vehicle’s coordinate system.

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Model-based Theory

Model-based Theory

A mathematical model with unknown model parameters is set up. The real robot kinematics is for example measured by using the measuring technique LaserLAB of the Wiest AG and the optimal parameter values are calculated with the help of a nonlinear met...

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Robot Cloning

Robot cloning means either the restoration or the duplication of a robot plant. The purpose of robot cloning is to avoid the manual teach-in of robot programmes and to take the advantage of synergetic effects.

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Theoretical Basics - Kinematic Calibration of Industrial Robots

Although the offline-programming technology has very much advanced, approximately 95% of all industrial robots are still programmed with the teach-in procedure. This is above all due to the imperfect positioning accuracy of industrial robots nowadays...

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Robot Calibration

Robot Calibration

As is generally known, the disadvantage of the serial kinematics is the insufficient absolute accuracy. If the robot axes are arranged in a row, their tolerances will be increased by the length of the axis connecting members. At the TCP (Tool Center ...

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