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Cooperation with: Rücker Ges.m.b.H (Graz, Austria)
Description:
Industrial robots are used in a wide range of applications in car industry. In the planning phase, we use simulations of the production process based on a VR^{}environment to get recommendations for the placement of the robots, the model choice for the timebehavior and other problems. In our project we treated a concrete, reallife problem: the path optimization for adhesive and sealant seams.
Last year's results have been used for computing optimized speed profiles. The resulting seam depends on several parameters: the rotation number of the jet head, the flow rate, the speed of TCP (tool center point), the distance from TCP to the surface.
Data from measurements have been used to build an extrapolation table to get the width of the seam for given parameters. To simplify the mathematical model we replaced the rotating spray jet (or head) by a ring (as some kind of averaging).
The simulation for the seam creation in realtime was done by an appropriate time and space discretization in a 3DVRenvironment based on SGI performer for OpenGl.
The discretized model for the required seam was explicitly given to us or we extracted it from a CADmade 3D graphical seam model. We adjust the place, width and height of the computed seam to that of the required seam by an optimization step.
As a brief description of the algorithm we have
start speed profile loop simulation of putting the material on the surface in realtime computing the difference between the resulting seam and the required seam correction of speed profile endloop



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