Broetje-automation Gmbh

Brötje-automation Gmbh

Dirk Eickhorst

Marcel Meyer

Various embodiments relate to a method for motion simulation for a manipulator, such as an NC-controlled manipulator, in a machining environment, wherein the manipulator is moved in an operating mode by a control apparatus and the machining environment is at least partly mapped in an environment model and wherein the method comprises computation of a trajectory plan by the control apparatus from a setpoint movement of the manipulator starting from an initial situation and based on a kinematic model of the manipulator, performance of a kinematic collision check based on the trajectory plan, the kinematic model and the environment model, and production of a prediction result based on the kinematic collision check. The method is characterized in that the initial situation corresponds to the current manipulator state. Further, some embodiments relate to a corresponding computer program with program code and to a corresponding system for motion simulation for a manipulator.

Method for motion simulation of a manipulator

In a method for the offline programming of an NC-controlled manipulator which follows at least one real trajectory, possibly in a sensor-supported manner, with tool center point thereof in the real working mode, a kinematic manipulator model and, possibly, an environmental model are stored in an offline programming environment with user interface, at least one virtual trajectory of the manipulator and a virtual tolerance zone assigned to said trajectory are defined using the offline programming environment in a definition routine, and the offline programming environment is used to check, in a check routine, the previously defined tolerance zone at least in part in terms of kinematic singularities of the manipulator, the occurrence of which prompts a singularity routine to be executed.

Method for offline programming of an NC-controlled manipulator

A method is used for controlling a paced production line for processing airplane structural components, wherein the production line comprises at least one workstation having at least one processing machine. It is provided that the processing sequence in the workstation is determined for a production step by determining the expected or actual occupation of the working area by structural component(s) or structural component section(s) for the production step, and, on the basis of the occupation, all of the operations to be performed in this workstation in this production step are determined, and the processing sequence of these operations is optimized.

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Varel-Altjuhrden, Germany

Dirk Eickhorst