Optimierung von Robotersteuerungen

Summary Important applications of robots with continuous path control such as arc-welding, deburring, flame cutting, coating and assembling cannot successfully be implemented without sensor feed back. The paper deals with the organisation of sensorinterfaces, the conditioning and processing of the necessary sensor signals. In this context a method for on-line path control and path correction is discussed, which is able to overcome most dynamic errors of the robot systems.