Bernd Kuhlenkötter

Bio: Bernd Kuhlenkötter is an academic researcher from Ruhr University Bochum. The author has contributed to research in topics: Robot & Modal analysis. The author has an hindex of 3, co-authored 5 publications receiving 39 citations.

Task-based Potential Analysis for Human-Robot Collaboration within Assembly Systems

Abstract: The human-robot collaboration (HRC) is an integral part of numerous research activities. The combination of the positive capabilities of human workers and robots ensures a high resource efficiency and productivity. However, especially the planning and implementation of HRC applications requires the consideration of several issues like the economic feasibility, acceptance of employees and in particular technical practicability. Based on the study of existing approaches which consider different technical or economic issues, we present a new method to identify suitable areas of HRC applications within assembly systems and to estimate the optimal allocation of human-related and automated subtasks. Finally, our approach is verified in an assembly line for terminal strips which in turn arises from an industrial use case.

Task-based Simulation Tool for Human-Robot Collaboration within Assembly Systems

Abstract: The human-robot collaboration unites positive skills of humans (flexibility, intuition, creativity) and robots (strength, stamina, velocity, precision) in order to ensure a high level of resource efficiency and productivity also with smaller batch sizes and a high variety of versions in production. However, the design of a collaborative assembly system is a complex engineering challenge due to the different goal criteria that have to be considered. A simulation tool for designing and securing human-robot collaboration is yet missing which prevents the widespread use of such technologies. This paper proposes a concept of a simulation tool for collaborative workplaces. In the future, this will ensure that also companies with little experience and limited resources are empowered to implement human-robot collaboration systems prosperously.

Natural Frequency Analysis in the Workspace of a Six-Axis Industrial Robot Using Design of Experiments

Abstract: This paper deals with a natural frequency distribution of a six-axis industrial robot in order to analyze chatter vibrations in upcoming milling processes. Since the dynamic vibration behavior of the robotic system can be manipulated by changing the robot’s joint configuration, experimental modal analysis is performed to determine the natural frequencies in the entire workspace. In this study, methods of design of experiments are used to derivate a mathematical model that predicts the natural frequencies of the robotic structure for any joint configuration within the considered workspace.

ROS-Based Robot Simulation in Human-Robot Collaboration

Abstract: The idea of human-robot collaboration (HRC) in assembly follows the aim of wisely combining the special capabilities of human workers and of robots in order to increase productivity in flexible assembly processes and to reduce the physical strain on human workers. The high degree of cooperation goes along with the fact that the effort to introduce an HRC workstation is fairly high and HRC has hardly been implemented in current productions so far. A major reason for this is a lack of planning and simulation software for the HRC. Therefore, this paper introduces an approach of how to implement such a software on the basis of the Robot Operating System (ROS) framework in order to enable a realistic simulation of the direct cooperation between human workers and robots.

Analysis of the dynamic behavior of a six-axis industrial robot within the entire workspace in respect of machining tasks

Abstract: Over the last years more and more industrial robots have been installed in almost every field of automation. Because of their high flexibility robots can be used to support tasks or to undertake complete processes. But this versatility also implicates high Cartesian compliance at the tool-center-point (TCP), due to the serial linked structure. In respect of machining tasks this compliance leads to path deviations and oscillations. Experimental modal analysis (EMA) can be used to measure the dynamic behavior of robots. Because of the large workspace this has yet only been done for a restricted area or arbitrary robot model although dedicated robot models for machining tasks are already available off the shelf. This paper presents the results of a detailed EMA within the entire workspace of a six-axis industrial robot in respect of machining tasks. In all poses, similar mode shapes were recognized. However, oscillation direction varies. Values of the eigenfrequencies show linear behavior in parts of the workspace, but some poses deviate.