Performanceanalyse von Bahnplanungsalgorithmen zur Steigerung der Produktivität von Industrierobotern

  • The aim of this bachelor thesis is the analysis of the performance of motion algorithms to increase the productivity of industrial robots. The robot which is therefor used is the COMAU NJ60-2.2 robot, which is controlled by the SINUMERIK 840D sl machine tool control. The Laser Tracker Hexagon Leica Absolute Tracker AT960-SR is used as the measuring instrument. To assess the performance, motion programs are programmed, each of which is executed comparatively with the CC_ROCO compensation cycle activated and deactivated. The test strategy is based on the ISO 9283 standard. Measurements are made of the path characteristics and of the settling performance. Special attention is paid to the differences that result from the use of the compensation cycle. The measurements are initially carried out on the digital twin of the SINUMERIK ONE controller and following on the real robot. The results of the measurements show that the use of the extension function does not have any negative decisive consequences on the path accuracy or the transientThe aim of this bachelor thesis is the analysis of the performance of motion algorithms to increase the productivity of industrial robots. The robot which is therefor used is the COMAU NJ60-2.2 robot, which is controlled by the SINUMERIK 840D sl machine tool control. The Laser Tracker Hexagon Leica Absolute Tracker AT960-SR is used as the measuring instrument. To assess the performance, motion programs are programmed, each of which is executed comparatively with the CC_ROCO compensation cycle activated and deactivated. The test strategy is based on the ISO 9283 standard. Measurements are made of the path characteristics and of the settling performance. Special attention is paid to the differences that result from the use of the compensation cycle. The measurements are initially carried out on the digital twin of the SINUMERIK ONE controller and following on the real robot. The results of the measurements show that the use of the extension function does not have any negative decisive consequences on the path accuracy or the transient response, but it positively influences the duration of time.show moreshow less

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Metadaten
Author:Sandra Hohner
Referee:Christine Agethen
Document Type:Bachelor-/Diplom Thesis
Language:German
Granting Institution:Technische Hochschule Nürnberg Georg Simon Ohm
Date of final exam:2022/03/01
Release Date:2022/07/21
GND Keyword:Roboter / Bahnplanung; Leistungsbewertung; ISO Norm 9283
institutes:Fakultät für Elektrotechnik Feinwerktechnik Informationstechnik
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