Kategorie: ‘Roboterprogrammierung’
Haptic feedback system RePlaLink
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.
https://youtu.be/pemrysX4Cr8
The second video shows haptic simulation and synthesis using a kitchen cabinet door as an example.
https://youtu.be/0AqONOv1R5E
Project page:
https://www.igmr.rwth-aachen.de/index.php/de/gt/gt-replalink
Contact:
Mahshid Pour Ebrahimabadi M.Sc.
Teaching the KUKA iiwa by manual guidance
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.
https://youtu.be/v7D4yknlxJI
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:
