Table Of ContentJ. Lückel (Ed.)
Proceedings of the
Third Conference
on Mechatronics and Robotics
Proceedings of the
Third Conference
on Mechatronics and
Robotics
"From design methods to industrial
applications"
October 4-6, 1995 Paderborn
Edited by Prof. Dr.-Ing. Joachim Lückel
Universität-Gesamthochschule Paderborn
Springer Fachmedien Wiesbaden GmbH
Die Deutsche Bibliothek - CIP-Einheitsaufnahme
Conference on Mechatronics and Robotics <3, 1995,
Paderbom>:
Proceedings of the Third Conference on Mechatronics and
Robotics, "From Design Methods to Industrial applications" :
October 4-6,1995, Paderborn / ed. by Joachim Lücke!.
Stuttgart : Teubner, 1995
NE: Lückel, Joachim [Hrsg.]
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kroverfilmungen und die Einspeicherung und Verarbeitung in elektronischen Systemen.
© Springer Fachmedien Wiesbaden 1995
Ursprünglich erschienen bei B.G. Teubner Stuttgart 1995
Softcover reprint of the hardcover 1s t edition
ISBN 978-3-519-02625-9 ISBN 978-3-322-91170-4 (eBook)
DOI 10.1007/978-3-322-91170-4
Table of Contents
I. Introduction
J. Gausemeier, D. Brexel, T. Frank, A. Humpert
Integrated Product Development -A New Approach to the Computer Aided
Development in the Early Design Stages ..................................................................... 10
B. Gombert, G. Hirzinger, G. Plank, M. Schedl, J. Shi
Modular Concepts for the New Generation ofD LR's Light Weight Robots ................. 30
E. Kallenbach, K. König, E. Saffert, Chr. Schäffel, M. Eccarius
Integrated Design of Shape and Function in Mechatronic Systems ............................. 44
ll. Software Engineering in Mechatronics
M. Anantharaman, B. Fink, M. Hiller, S. Vogel
Integrated Development Environment for Mechatronic Systems .................................. 54
R. Kasper, W. Koch
Object-Oriented Behavioural Modelling of Mechatronic Systems ............................... 70
J. Bielefeld, G. Pelz, G. Zimmer
Analog Hardware Description Languages for Modeling and
Simulation of Microsystems and Mechatronics ........................................................... 85
ID. Drive Systems
K. Nishibori, S. Okuma, H. Obata
Driving Characteristics of Robot Hand with Fingers using
Langevin-Type Ultrasonic Motors ............................................................................... 94
P. Ph. Robet, M. Gautier, C. Bergmann
Experimentalldentijication of DC Electric Drives ..................................................... 105
R. Scheidl, D. Schindler, G. Riha, W. Leitner
Basics for the Energy-Efficient Control of Hydraulic Drives by
Switching T echniques ................................................................................................. 118
P. Van den Braembussche, J. Swevers, H. Van Brussel, P. Vanherck
Motion Control and Identijication Techniques for Machine Tool Axes ....................... 132
IV. Robot Control
B. Siciliano
A Unified FrameworkJor the Design oJ Interaction Control Schemes
Jor Robot Manipulators ............................................................................................. 146
P. Fraisse, F. Pierrot, P. Dauchez
Robust Control oJ a Two-Arm Robot: an Efficient Implementation
in a DSP-based Controller ......................................................................................... 162
R. Neumann, W. Moritz
Robot Path Control with aDecentral Structure .......................................................... 176
G.-W. van der Linden
Design and Implementation oJ a Model-Based Nonlinear Controller
Jor an Experimental Hydraulic Robot ........................................................................ 190
V. Robot Applications
C. Uhrhan, R. Roshardt, G. Schweitzer
User-Oriented Automation oJ Flexible Sheet Bending ................................................ 202
P. Drews, D. Matzner
Smart Welder -A Mechatronic ApplicationJor Automated Shipbuilding .................... 212
W. Roddeck, H.-J. Rehbein
Autonomous Tool-Mover Jor Laser-Cutting with Industrial Robots ............................ 226
N. Ahlbehrendt, H. Diesing, S. Jakobi
Interactive Robot Master Slave System Jor Deburring Large Cast Iron ...................... 235
VI. Mobile Robots
E. Kreuzer, F.C. Pinto
Remotely Operated Vehicle -A Mechatronic System .................................................. 248
P. Alexandre, A. Preumont
A Free Gait AlgorithmJor Improved Mobility Control oJWalking Machines ............. 262
M. A. Busetti de Paula, M. C. Zanella
Application oJ a Simulation with Hardware-in-the-Loop Environment in
Automated Guided Vehicles ....................................................................................... 276
Fr.-W. Bach, J. Seevers, M. Hahn, M. Rachkov
Wall-Climbing Robots Jor Inspection and Maintenance ............................................. 286
VB. Modelling and Simulation
O. Enge, G. Kielau, P. Maißer
Modelling and Simulation oJ Discrete Electromechanical Systems ............................. 302
M. Kaltenbacher, F. Lindinger
Software Environment Jor the Computer Modeling oJ
Magnetomechanical Systems ...................................................................................... 319
H. Freudenberg, P. A. Tuan
Modeling and Simulation oJ a Flexible Shuttle-Robot ................................................ 331
H. Hesse, J. Wallaschek
Optimization oJ the Dynamic Behavior oJ a Wire Bonder Us ing the
Concept oJ Mechatronic Function Modules ................................................................ 341
VID. Vehicles
R. Busch
Development oJ the Control oJ a Fully Automized Hybrid Drive ................................ 356
A. Daberkow, M. Koch, N. Ott
Mechatronic System Elements Jor Traction Control oJ Light Railway Vehicles .......... 372
M. Hahn, J. Richert, J. Seuss
Mechatronic Object-Oriented Modelling and Control Strategies
Jor Vehicle Convoy Driving ....................................................................................... 385
A. Rükgauer, U. Petersen, W. Schiehlen
Mechatronic Steering oJ a Convoy Vehicle ................................................................ .403
IX. General Aspects in Mechatronics
T. Fukuda, K. Shimojima
Fuzzy-Neuro-GA Based Intelligent Control ............................................................... .418
T. Raste, P. C. Müller
Modeling and Control oJM echatronic Systems by Decentralized
Descriptor Systems .................................................................................................... 432
W. Brockherde, D. Hammerschmidt, B. J. Hosticka
Silicon Microsystems Jor Mechatronic Applications ................................................... 446
X. Real-Time Processing
E. G. M. Holweg, G. Honderd, W. Jongkind
Transputer Software Tool/or Robot Control Applications ........................................ .458
u. Honekamp, R. Sto1pe
Design anti AppUcation 0/ a Distributed Simulation-and Runtime-Platform
tor Mechatronic Systems in the Field 0/ Robot Control ............................................. .471
J. Pfefferl
MERKUR: AReal-Time and Fault-Tolerant Communication System/or
Mechatronic Applications .......................................................................................... 485
XI. Robots -General Aspects
O.Khatib,A.Bowling
Optimization 0/ the Inertial and Acceleration Characteristics 0/
Non-Redundant Manipulators ................................................................................... .500
R. Caraccio10, F. Fanton, A. Gasparetto, A. Rossi
A Laser-Based 3D Correlation Procedure tor the Execution 0/ a
Biomedical Task in Robotized Cell ............................................................................. 511
J. Möcke1, M. Berger, J. Schönherr
Servodrive Equipped Linkages to Generate Exactly Defined Flexible
and Adaptable Movements ........................................................................................ .525
M. Schlemmer, R. Finsterwalder, G. Grübe1
Avoiding Singularity Problems 0/ Manipulators with Redundant Kinematics
by On-Une Dynamic Trajectory Optimization ............................................................. 538
I. Introduction
J. Gausemeier, D. Brexel, T. Frank, A. Humpert
Integrated Product Development -A New Approach to the
Computer Aided Development in the Early Design Stages
B. Gombert, G. Hirzinger, G. Plank, M. Schedl, J. Shi
Modular Conceptsfor the New Generation ofDLR's Light
Weight Robots
E. Kallenbach
Integrated Design ofS hape and Function in Mechatronic
Systems
Integrated Product Development
A New Approach for Computer Aided Development
in the Early Design Stages
Jürgen Gausemeier, Dirk Brexel, Thorsten Frank, Axel Humpert
Heinz Nixdorf Institut, Paderbom, Germany
Abstract: The article presents the methodology of Integrated Product
Development. Integrated Product Development offers a frame for structuring
and integrating development acitivites and methods which are necessary for
the development of complex industrial products. Conceptual Product Design
is introduced and described as an essential part of Integrated Product
Development in order to methodically support the development process.
Conceptual Product Design aims to ensure the fulfilment of requirements,
the basic workability, and the expected economic success as early as possi
ble. Finally, information technology tools necessary to support Conceptual
Product Design are explained.
1 Introduction
In many areas, the efficiency of the product development process1 determines the ability
of an industrial enterprise to compete. There are increasing requirements of the product
development process. It is necessary to consider customers' demands fast and with low
costs by clever product structuring. There is a change in technology. Products are getting
more complex. Competition forces the periods of product development to become
shorter. These challenges to product development can be mastered by two approaches:
Intensirying the "Early Stages,,2: The early stages of product development determine
the success or failure of a product. The product conception lays down the functions and
the usability of a product as weil as the manufacturing costs and the development time
[1]. A principle solution which is inadequate leads to redundant change loops and will
endanger the successful introduction on the market. Therefore, "doing it right the first
time" is a crucial means to enhance the ability to compete. This means to plan
thoroughly and to transfer the conceptual design fast and vigorously. The product
conception must be thought over until
• the fulfillment of requirements,
• the basic workability of the product and
1 Tbe product development process is a line of tasks ranging from the product idea to the successful in
troduction on the market. Tbus, it inc1udes product planning/product marketing, development/design,
work scheduling an building the means of production.
2 Tbe early stages of product development consist of product planning and conceptual product design.
Tbey result in a priciple solution.
