Siemens Aktiengesellschaft

Other

Siemens Aktiengesell Schaft

Werner Neubauer

Wendelin Feiten

Florian Poprawa

Michael Bernhard Buhl

Philipp Sebastian Schmitt

Marcus Moller

Winfried Lurz

Manfred Schönborn

Kai Wurm

Robert Eidenberger

Siegfried Bocionek

Dimitri Lomakin

Axel Rottmann

Sören Burmeister

J&ouml;rg Illmann

Martin Joppich

A pick & place operation picking a non-electric component and placing the picked component onto a component-carrier and a connect operation connecting the placed component with the component-carrier by implementing a connection technology on a hybrid, at least reactive and deliberative machine architecture based on a 'machine world model' as a digital twin to formulate correct machine-behavioral sets being used during machine run-time as well as an “machine workflow”, and executing by machine motion generation including a collision-free motion or path planning of a machine within a machine workspace primary kinematic machine-movement-sequences enabling the pick & place operation and secondary kinematic machine-movement-sequences enabling the connect operation, and enabling the execution via the machine motion generation by initializing the “machine world model” according to a configuration file configuring the machine and the machine workspace and instantiating the “machine workflow” and updating the “machine world model” with a design of the component-carrier.

Method and assembly unit for assembling non-electric components onto a component carrier

Provided is a computer-assisted method for ascertaining a movement of an apparatus, which has a tool that is movable by way of translational and/or rotational axes of movement of the apparatus, includes the following method steps: a first movement trajectory of the tool is ascertained in a first configuration space. A predetermined parameter of a movement of the tool is optimized when ascertaining the first movement trajectory. A check is carried out as to whether the first movement trajectory satisfies at least one predetermined first boundary condition. A second movement trajectory of the tool in a second configuration space is ascertained by transforming the first movement trajectory into the second configuration space if the first movement trajectory satisfies the predetermined first boundary condition. A check is carried out as to whether the second movement trajectory satisfies at least one predetermined second boundary condition.

Computer-assisted ascertainment of a movement of an apparatus

Provided is a method for computer-aided user assistance during the activation of a movement planner for a machine, in which:

Method for computer-aided user assistance during the activation of a movement planner for a machine

In order to control a technical system, a user control variable is read in and a plurality of control variable variants of the user control variable are generated. A respective trajectory of the technical system is extrapolated for the user control variable and for the control variable variants, for which a respective reliability is evaluated. Furthermore, a respective distance of each control variable variant to the user control variable is determined. The user control variable is then selected as a control signal for the technical system in the event that the trajectory extrapolated for the user control variable is evaluated as reliable. Otherwise, a control variable variant with an extrapolated trajectory evaluated as reliable is selected from the control variable variants as a control signal, wherein a control variable variant with a low distance is preferably selected. Finally, the control signal for controlling the technical system is emitted.

Method and assistance system for controlling a technical system

A method for computer-aided movement planning of a robot is provided, in which a trajectory for the movement of a spatial point assigned to the robot is planned in a fixed coordinates system. The spatial positions are translated from a plurality of spatial positions of the spatial point into respective configuration positions in a configuration room of the robot based on inverse kinematics. The respective configuration positions are described by axial positions of one or several rotatory or translational movement axes of the robot and are tested for collisions and a trajectory is formed along spatial positions of the spatial point, the respective configuration positions of which are collision-free. Planning the movement in a fixed coordinates system improves the efficiency of the planning method and the planned movement corresponds more to the expectations of the persons or the operating staff in the surroundings of the robot.

Method for computer-aided movement planning of a robot

A path is determined in the following iterative way: An arcuate path around the reference position having a predetermined spacing is determined step-by-step. The existence of an obstacle along the arcuate path is checked. The arcuate path is lengthened as long as no obstacle is found. When an obstacle is found, the spacing is enlarged by a prescribable value and the method is continued in a new iteration with the enlarged spacing.

Method and device for determining a path around a defined reference position

Process for optimizing control parameters for a system having an actual

An apparatus having a highly autonomously, self-moving system which reacts flexibly to impediments in the environment. It must be specifically noted in this context that such apparatus were known not used in shafts or channels and that the nature of the motion on the basis of bracing legs and motions of further legs represents a special advantage over apparatus that were known standards. Particular economic success could be achieved by marketing this apparatus in nuclear power fields, conduit technology or medical applications.

Apparatus for locomotion in enclosed spaces

Self-propelled device and process for exploring an area with the device

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Munich, Germany

Werner Neubauer