IGMR « ROBOTIK UND MECHATRONIK

Kategorie: ‘IGMR’

Haptic feedback system RePlaLink

November 13th, 2020 | by Ruland, Stefan Wolfgang

At IGMR, the haptic feedback system RePlaLink (Reconfigurable Planar Linkage) is being developed. With this system, hand-actuated mechanisms can be haptically simulated and interactively synthesized. Furthermore, users can interactively synthesize these mechanisms. This should allow mechanisms with optimal haptic properties to be developed.

People frequently interact with hand-actuated mechanisms in everyday life, e.g., in car doors, furniture doors, reconfigurable furniture, or fitness equipment. Their haptic properties largely determine the perceived quality of these mechanisms. The RePlaLink (Reconfigurable Planar Linkage) aims to support the design and development of these mechanisms by applying haptic feedback systems based on virtual prototypes. The haptic simulation and synthesis method allows users to directly feel mechanisms’ kinematic and kinetostatic properties while operating the system. In addition, users can interactively modify these properties and receive direct haptic feedback. In the first video, the design of the RePlaLink, consisting of a planar five-link with an additional serial link for the handle, is shown.

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The second video shows haptic simulation and synthesis using a kitchen cabinet door as an example.

Project page:

https://www.igmr.rwth-aachen.de/index.php/de/gt/gt-replalink

Contact:

Mahshid Pour Ebrahimabadi M.Sc.

Kategorie: Entwicklung, Entwicklung und Konstruktion, Haptisches Feedbacksystem, IGMR, RePlaLink, Roboterprogrammierung, SPS, Virtuelle Inbetriebnahme, Virtuelle Prototypen
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Exercise with the Fanuc Education Cell in the module Robotic Systems

November 9th, 2020 | by Ruland, Stefan Wolfgang

As part of the practical exercise of the Robotic Systems module https://www.igmr.rwth-aachen.de/index.php/de/lehrveranstaltungen/rs the Fanuc Education Cell with the Roboguide software is used in our Robotic Lab.

The students learn the basic operation of a robotic cell and implement a logistics scenario by themselves using the Roboguide software. This semester we are also able to maintain the practical exercises remotely. For this purpose, teaching materials have been digitized so that students can simulate the task from their own computers.

Internet page for the course:

https://www.igmr.rwth-aachen.de/index.php/de/lehrveranstaltungen/rs

Contact:
Markus Schmitz

Kategorie: Fanuc, Fanuc Education Cell, IGMR, Lehre, Roboguide, Roboter, Robotic Systems
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Teaching the KUKA iiwa by manual guidance

October 23rd, 2020 | by Ruland, Stefan Wolfgang

The hand guidance of the collaborative robot KUKA iiwa is well suited for programming spatial points. This is possible both within a program and in the robot’s T1 mode.

The video shows the manual guidance of the KUKA iiwa within a program. The robot can be guided by hand on the flange when the user presses the gray consent button. After releasing it, the program asks whether the current position is correct and should be saved. Any number of additional positions can then be added. At the end of the program, all stored room points are traversed in the taught sequence.

Contacts:

Elodie Hüsing

Carlo Weidemann

Kategorie: IGMR, Kollaboration, MRK, Roboterprogrammierung
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Robot-Guided Form Scan and Coating

October 16th, 2020 | by Ruland, Stefan Wolfgang

Automatic shape recognition via laser scanner and trajectory planning for coating.

In this project, shapes are detected and their edges are realized by a laser scanner mounted on the end effector of the robot. The collected data is synchronized and filtered, and a suitable trajectory is created for coating the inner surface of the forms. Several variables, such as nozzle speed, spacing and gaps, nozzle size, and outlier for homogeneous coating can be selected during trajectory planning.

The project was carried out in cooperation with International Partners in Glass Research e.V.

Watch this video on YouTube: https://youtu.be/SAHmeuPKeG4

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Contact person:

Markus Schmitz

Kategorie: Bewegungsplanung, IGMR, industrielle Robotik, LaserScan
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Camera calibration in SHAREWORK

October 9th, 2020 | by Ruland, Stefan Wolfgang

In the EU project SHAREWORK we develop a framework for industry that allows human-robot collaboration even with heavy industrial robots. We are developing camera-based methods for localizing objects in the workspace and deriving process states from them, which in turn can be further used in task planning algorithms.

For the camera network, we set up and calibrated four Stereolabs ZED stereo cameras in our hall. Random, checkerboard, Aruco, as well as ChAruco patterns were used for the calibration. In the end, we have managed to calibrate the cameras to sub-pixel accuracy. In the video, you can see some data from our calibration sets. Currently the data is being processed and we hope to show more in a few weeks.

Watch this video on YouTube: https://youtu.be/8goCBVKaKtU

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Project page:

https://www.igmr.rwth-aachen.de/index.php/de/rob/rob-sharework

Contact person:

Stefan Bezrucav

Nils Mandischer

Kategorie: Allgemein, IGMR, Industrie, Industrie 4.0, Kalibrierung, MRK, Objekterkennung, OpenCV, Sharework
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Robot Companion: A mobile helper in case of need

October 2nd, 2020 | by Ruland, Stefan Wolfgang

Robot Companion is a framework to implement robot tracking systems in a simple and cost-saving way. For this purpose, IGMR develops methods for tracking with different sensors (laser, radar, camera), agile path planning and actuation.

The current objective of Robot Companion is to provide a robot for emergency rescue. In doing so, the robot will autonomously follow first responders and enable the transport of materials and equipment, as well as the removal of debris and casualties. A first path to this vision was implemented with the basic module. The basic module has methods for tracking with a camera and laser, and enables autonomous tracking of an operator.

The video shows the tracks of the vertical and horizontal trackers, as well as the state of detection (top right). In a tracking test, 100% accuracy was achieved at low speeds.

Project website:

https://www.igmr.rwth-aachen.de/index.php/de/rob/rob-comp

Contact:

Nils Mandischer

Kategorie: IGMR, Mobile Robotik, Robot Companion, ROS, Rough Environments, Tracking
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Next Generation – developing inclusive work with flexible robot solutions

September 18th, 2020 | by Ruland, Stefan Wolfgang

Person sits at a production workplace and is supported by a collaborative robot.
The Next Generation project aims to develop inclusive workplaces with the help of human-robot collaboration (HRC) in order to improve the quality of life.

People with severe and multiple disabilities usually work below their personal cognitive abilities. This causes great dissatisfaction.
For this reason, the project “Next Generation – developing inclusive work with flexible robot solutions” develops workplaces with the aid of human-robot collaboration (HRC).
The project is intended to enable people with disabilities to participate in working life. This can increase the quality of life as well as self-determination and positive personality development.

For tasks from industry, numerous companies from the Cologne area were asked to provide possible sample applications for the conception of the inclusive workplace.
In the process, two activities at Buschhoff Stanztechnik GmbH & Co. KG and at Cölner Hofbräu P. Josef Früh KG were selected. The conception and implementation can now begin. Further up-to-date information is available on the website of the Next Generation project.
Website Next Generation-Project.

Contacts:

Elodie Hüsing
Carlo Weidemann

Kategorie: Entwicklung, Entwicklung und Konstruktion, IGMR, Inklusive Arbeitsplätze, Mensch-Maschine-Kollaboration, Mensch-Roboter-Kollaboration, Next Generation
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Cooperative mobile packaging in production lines in the “Internet of Production”

August 14th, 2020 | by Ruland, Stefan Wolfgang

Applications of mobile manipulation in production lines of the “Factory of Future”.

Internet of Production (IoP) has the vision to enable cross-domain collaboration in production lines on a new level. Mobilization of robotic agents and resources are the essences of the production lines of the Factory of Future. To enable robotic agents to react to the changes in production lines, we at IGMR are developing online motion planning and control strategies for mobile manipulators in dynamic situations.

Further information on the Internet of Production:

https://www.igmr.rwth-aachen.de/index.php/de/rob/rob-iop

https://www.iop.rwth-aachen.de

Contact person:

Daniel Gossen

Kategorie: Bewegungsplanung, IGMR, Internet of Production, IoP, Mobile Manipulation
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Multidirectional additive manufacturing in arc welding process

August 6th, 2020 | by Ruland, Stefan Wolfgang

In collaboration with the ISF, RWTH Aachen, we at IGMR are researching Multidirectional Additive Manufacturing. In this application for the production of metal components.

Multidirectional Additive Manufacturing enables the production of complex components without support structures, both in the classic FDM process with plastic and with layer-by-layer buildup in the arc welding process. At IGMR, the entire process chain of additive manufacturing is being extended to meet the special challenges of this process from a robotic perspective. This includes the slicing of a virtual component into layers, the subsequent planning of a collision-free structure, the generation of executable robot paths for filling the layers as well as the necessary trajectory planning.

Contact person:
Markus Schmitz
Carlo Weidemann