Schlagwort: ‘C++’
Participation at European Robotics Forum (ERF) Hackathon 2022
As part of the European Robotics Forum (ERF) Hackathon 2022, six IGMR students demonstrated their talent in prototyping and working with robots. The hackathon challenge was set by Lely, among others. Their ‘Juno‘ mobile robots are autonomous cylindrical platforms whose main task is to move the fencing around cows on farms to make the feed pushed into the space accessible again. The hackathon task was similar: two Juno robots had to move along the walls of two interconnected rooms at a given distance. Additional restrictions and challenges were added for extra points. The team was successful at the hackathon in Rotterdam. After a neck-and-neck race, the first place went to TU Delft. At the award ceremony, we were praised as the most cooperative team for our “constant support of other teams in design and 3D printing“. This ‘exemplary behaviour‘ is much appreciated and we look forward to taking part again next year.
Special praise goes to our students Sebastian Polzin, Frederik van Kerkom, Jonas Braun, Oleksander Kutovyi, Ali Berger and Yannik Freischlad for their efforts. We congratulate TU Delft on their well-deserved victory and are happy to have won many new friends and valuable contacts. We thank the institute management for the opportunity to participate and look forward to next year.
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Manipulator-specific path planning for multidirectional additive manufacturing
In a joint research project between the IGMR and the ISF of RWTH Aachen University, research is being conducted on the Multidirectional Additive Manufacturing of metallic components.
With the aid of Multidirectional Additive Manufacturing (MDAM), it is possible to build complex components layer by layer and without the need for support structures. By moving the base plate by means of an industrial robot while the welding gun remains fixed, the component to be printed can always be oriented in such a way that support structures can be avoided. The major challenge lies in the consideration of specialized welding processes with external wire feeding and the use of sensors for process monitoring. This results in a dependency of the orientation of the welding gun compared to the currently printed path.
As part of his master’s thesis, Jan Wiartalla developed a path planning algorithm that calculates an executable and, if possible, continuous path within specified, flat part slices that completely fills the cross-sectional area. This is done robot-specific, so that the algorithm always takes the robot currently in use as well as its limitations into account. A standardized interface allows for the robot model to be easily exchanged and the algorithm can thus quickly be adapted to different test environments. The video illustrates the algorithm’s procedure in a simplified way.
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