Archive for August, 2022

Programming courses with the FANUC Education Cell and RoboGuide

August 30th, 2022 | by

One of the key factors in working with robots at the IGMR is not only the theoretical consideration, calculation and optimisation of movement or mechanics, but in particular the practical work and handling of the systems, as well as the various programming tasks. The FANUC Education Cell is at the heart of this practical teaching, and is also an integral part of the Robotic Systems lecture and robotics courses at the International Academy. In addition to the lectures, the IGMR, represented by Carlo Weidemann, winner of the FANUC Olympiad 2020, also offers internal user courses for employees and gives them the opportunity to work independently on the cell.

Are you a student at the RWTH and interested in working with robots such as the FANUC LR Mate 200iD 4S or carrying out projects? Perhaps you have a concrete idea for a thesis involving the robot? Then please contact us. We look forward to hearing from you!

Carlo Weidemann
Sophie Charlotte Keunecke

AKPro students present impressive project results at Trapo AG

August 29th, 2022 | by

Last year the projects for the course “Applied Design and Product Development I / II” were provided and supervised by Trapo AG. Now the students had the opportunity to visit Trapo AG in Gescher and present the results to the management, and after the presentations the students were able to visit the different areas of Trapo AG and have a look at the production and finishing. Congratulations to all AKPro participants on the very successful completion of their projects! Many thanks to Trapo AG for supporting the projects and for the opportunity to visit.


Jan Wiartalla
Sophie Charlotte Keunecke

First movement of PARAGRIP with new control unit

August 25th, 2022 | by

PARAGRIP’s control architecture has been completely redesigned in order to be fully equipped for its future tasks in multidirectional additive manufacturing (MDAM) with arc welding (WAAM). The movements of all four arms can now be planned, simulated and executed on the real robot using MoveIt in ROS2. The joint positions of the physical robot are always fed back to ROS2, allowing the integration of online planning algorithms in the future. The video shows the planning and execution of a simple test motion of the PARAGRIP.

More information about the project can be found here.

Contact: Jan Wiartalla

IGMR Consensus In Sensor Robot Network

August 24th, 2022 | by

Agile and freely networked assembly systems are characterised by the sensoric-supported cooperation of several mobile and stationary robots. However, the dynamic transformation of the production lines demands especial control strategies for robotic manipulators. Fast and reliable motion planning and control schemes should be developed that appropriately react to the changes in the environment and setpoints, and produce feasible motions. These assembly systems can then be mapped into the structure of a meta-model that leads to the creation of digital shadows of the factories of the future.

Contact: Daniel Gossen

Watch the video on our Youtube channel: here.

A multi-layered task sequencing approach

August 22nd, 2022 | by

Cobots are highly sought by manufacturing companies in contrast to fully automated production lines, as they provide the additional benefit of flexible operations. A major hurdle with current collaborative setups is tedious setup times for efficient and robust co-working as well as poor support for random interruptions.

This project focuses on enabling autonomous collaborative operations for serial manipulators where interruptions from human agents occur at random while ensuring minimal setup times. To this end, two primary aspects that impact task execution are addressed, namely execution time and co-working as enumerated below:

  1. A method is developed to minimise the total distance travelled, by following the most optimal sequence for the given task while retaining online operational capabilities
  2. A real-time replanning and co-working algorithm for randomly interruptive environments is developed and implemented to ensure continued operation even when regions of the workspace are occluded while guaranteeing safety of the human agents in the workspace. The co-working controller operates fully autonomously.

An example of the working of the deployed on a prototype platform consisting of a collaborative UR10e arm, a stereo camera for static environment mapping and a laser scanner for mapping of dynamic obstacles is shown in the video.

Contact: Daniel Gossen

music: madiRFAN – Both of Us (

Watch the video on our Youtube channel: here.


IGOR Tper: The Robot with non-spherical wrist

August 3rd, 2022 | by

The next generation of our robot is designed. The new robot is called IGOR Tper. This robot has a non-spherical wrist, that makes the motion planning for the robot rather challenging.

Markus Schmitz