Sensor Data Processing for Flexible Manufacturing Processes

  • A. Jacubasch
  • H. Franke
  • H.-B. Kuntze
Conference paper
Part of the NATO ASI Series book series (volume 57)


Computer controlled industrial robots (IR) open up completely new options with respect to the flexible automation of manufacturing and assembling processes which are rather rarely used in current industrial practice. An important application of sensor equipped IR is the automatic scanning of a priori unknown contours and shapes of workpieces. During the sensor-based scanning different manufacturing operations requiring moderate path velocities (< 100 mm/s) can be performed simultaneously. Typical applications are deburring or seam welding. At the present state of development the limited bandwidth of sensor feedback control does not permit fast path velocities (> 100 mm/s) which are demanded more and more in pretentious manufacturing processes like glueing. However, in such cases the sensor can be used for planning a fast trajectory with desired accuracy. In a first step the considered contour of the workpiece will be automatically scanned at slow velocity. The scanned data sequence describes very accurately both position and orientation of the path even for complex geometric shapes. In a second step, from the dense sequence of data only the significant points are selected in order to generate a trajectory with a desired velocity profile and a defined accuracy.


Industrial Robot Dense Sequence Tool Centre Point Velocity Ball Path Point 
These keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.


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Copyright information

© Springer-Verlag Berlin Heidelberg 1990

Authors and Affiliations

  • A. Jacubasch
    • 1
  • H. Franke
    • 1
  • H.-B. Kuntze
    • 1
  1. 1.Fraunhofer-Institute for Information and Data Processing (IITB)KarlsruheFederal Republic of Germany

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