{"id":490,"date":"2022-08-25T13:36:36","date_gmt":"2022-08-25T11:36:36","guid":{"rendered":"https:\/\/blog.rwth-aachen.de\/robotik\/?p=490"},"modified":"2024-01-11T14:51:01","modified_gmt":"2024-01-11T13:51:01","slug":"erste-bewegung-des-paragrips-mit-neuer-steuerung","status":"publish","type":"post","link":"https:\/\/blog.rwth-aachen.de\/robotik\/en\/erste-bewegung-des-paragrips-mit-neuer-steuerung\/","title":{"rendered":"First movement of PARAGRIP with new control unit"},"content":{"rendered":"<p><\/p>\n<div style=\"width: 1920px;\" class=\"wp-video\"><video class=\"wp-video-shortcode\" id=\"video-490-2\" width=\"1920\" height=\"1080\" preload=\"metadata\" controls=\"controls\"><source type=\"video\/mp4\" src=\"https:\/\/blog.rwth-aachen.de\/robotik\/files\/2022\/08\/KWxx_Blog_Teaser-Paragrip_erste-Bewegung_V01.mp4?_=2\" \/><a href=\"https:\/\/blog.rwth-aachen.de\/robotik\/files\/2022\/08\/KWxx_Blog_Teaser-Paragrip_erste-Bewegung_V01.mp4\">https:\/\/blog.rwth-aachen.de\/robotik\/files\/2022\/08\/KWxx_Blog_Teaser-Paragrip_erste-Bewegung_V01.mp4<\/a><\/video><\/div>\n<p><span class=\"--l --r hover:bg-light-blue hover:cursor-pointer lmt__write_highlight_sentence py-[3px] sentence_highlight\"><span class=\"--l --r border-b-2 border-green-200 group-hover:text-blue-chill lmt__write_highlight relative text-green-700\"><span class=\"--l --r lmt__sentence_beginning_anchor_highlight relative\">P<\/span>ARAGRIP&#8217;s control architecture has been completely redesigned in<\/span> order to be <span class=\"--l --r border-b-2 border-green-200 group-hover:text-blue-chill lmt__write_highlight relative text-green-700\">fully<\/span> equipped for its future tasks in multidirectional additive manufacturing (MDAM) <span class=\"--l --r border-b-2 border-green-200 group-hover:text-blue-chill lmt__write_highlight relative text-green-700\">with<\/span> arc welding (WAAM<span class=\"--l --r border-b-2 border-green-200 group-hover:text-blue-chill lmt__write_highlight relative text-green-700\">).<\/span> <\/span><span class=\"--l --r hover:bg-light-blue hover:cursor-pointer lmt__write_highlight_sentence py-[3px] sentence_highlight\"><span class=\"--l --r border-b-2 border-green-200 group-hover:text-blue-chill lmt__write_highlight relative text-green-700\"><span class=\"--l --r lmt__sentence_beginning_anchor_highlight relative\">T<\/span>he<\/span> movements of all four arms can <span class=\"--l --r border-b-2 border-green-200 group-hover:text-blue-chill lmt__write_highlight relative text-green-700\">now<\/span> be planned, simulated and executed on the real robot <span class=\"--l --r border-b-2 border-green-200 group-hover:text-blue-chill lmt__write_highlight relative text-green-700\">using MoveIt in ROS2<\/span>. <\/span><span class=\"--l --r hover:bg-light-blue hover:cursor-pointer lmt__write_highlight_sentence py-[3px] sentence_highlight\"><span class=\"--l --r lmt__sentence_beginning_anchor_highlight relative\">T<\/span>he joint positions of the physical robot are always fed back to ROS2, <span class=\"--l --r border-b-2 border-green-200 group-hover:text-blue-chill lmt__write_highlight relative text-green-700\">allowing<\/span> the integration of online planning algorithms in the future. <\/span><span class=\"--l --r hover:bg-light-blue hover:cursor-pointer lmt__write_highlight_sentence py-[3px] sentence_highlight\"><span class=\"--l --r lmt__sentence_beginning_anchor_highlight relative\">T<\/span>he video shows the planning and execution of a simple test <span class=\"--l --r border-b-2 border-green-200 group-hover:text-blue-chill lmt__write_highlight relative text-green-700\">motion<\/span> of the PARAGRIP.<\/span><\/p>\n<p><span class=\"--l --r hover:bg-light-blue hover:cursor-pointer lmt__write_highlight_sentence py-[3px] sentence_highlight\"><span class=\"--l --r border-b-2 border-green-200 group-hover:text-blue-chill lmt__write_highlight relative text-green-700\"><span class=\"--l --r lmt__sentence_beginning_anchor_highlight relative\">M<\/span>ore<\/span> information about the project can be found <a href=\"https:\/\/www.igmr.rwth-aachen.de\/index.php\/de\/rob\/rob-paragrip\">here<\/a>.<\/span><\/p>\n<p>Contact: <a href=\"https:\/\/www.igmr.rwth-aachen.de\/cms\/igmr\/Das-Institut\/Team\/~thvzt\/Jan-Wiartalla-M-Sc-RWTH\/\">Jan Wiartalla <\/a><\/p>","protected":false},"excerpt":{"rendered":"<p>PARAGRIP&#8217;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 [&hellip;]<\/p>\n","protected":false},"author":3799,"featured_media":0,"comment_status":"closed","ping_status":"open","sticky":false,"template":"","format":"standard","meta":{"c2c_always_allow_admin_comments":false,"footnotes":""},"categories":[351,59,198,113,282,10,114],"tags":[352,60,339,203,141,257,340,14,142],"class_list":["post-490","post","type-post","status-publish","format-standard","hentry","category-jahresmagazin-automation","category-mdam","category-roboter","category-roboterprogrammierung","category-robotik","category-ros","category-sps","tag-jahresmagazin-automation","tag-mdam","tag-paragrip","tag-roboter","tag-roboterprogrammierung","tag-robotik","tag-robweld","tag-ros","tag-sps"],"_links":{"self":[{"href":"https:\/\/blog.rwth-aachen.de\/robotik\/en\/wp-json\/wp\/v2\/posts\/490","targetHints":{"allow":["GET"]}}],"collection":[{"href":"https:\/\/blog.rwth-aachen.de\/robotik\/en\/wp-json\/wp\/v2\/posts"}],"about":[{"href":"https:\/\/blog.rwth-aachen.de\/robotik\/en\/wp-json\/wp\/v2\/types\/post"}],"author":[{"embeddable":true,"href":"https:\/\/blog.rwth-aachen.de\/robotik\/en\/wp-json\/wp\/v2\/users\/3799"}],"replies":[{"embeddable":true,"href":"https:\/\/blog.rwth-aachen.de\/robotik\/en\/wp-json\/wp\/v2\/comments?post=490"}],"version-history":[{"count":4,"href":"https:\/\/blog.rwth-aachen.de\/robotik\/en\/wp-json\/wp\/v2\/posts\/490\/revisions"}],"predecessor-version":[{"id":860,"href":"https:\/\/blog.rwth-aachen.de\/robotik\/en\/wp-json\/wp\/v2\/posts\/490\/revisions\/860"}],"wp:attachment":[{"href":"https:\/\/blog.rwth-aachen.de\/robotik\/en\/wp-json\/wp\/v2\/media?parent=490"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"https:\/\/blog.rwth-aachen.de\/robotik\/en\/wp-json\/wp\/v2\/categories?post=490"},{"taxonomy":"post_tag","embeddable":true,"href":"https:\/\/blog.rwth-aachen.de\/robotik\/en\/wp-json\/wp\/v2\/tags?post=490"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}