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The increasing complexity of products and machines as well as short production cycles with small lot sizes present great challenges to production industry. Both, the programming of industrial robots in online mode using hand-held control devices or in offline mode using text-based programming requires specific knowledge of robotics and manufacturer-dependent robot control systems. In particular for...
The task of bin picking is to automatically unload objects from a container using a robotic manipulator. A widely used solution is to organize the objects into a predictable pattern, e.g., a workpiece carrier, in order to simplify all integral subtasks like object recognition, motion planning and grasping. In such a case, motion planning can even be solved offline as it is ensured that the objects...
To achieve an exact motion that is following a reference position in a force controlled process, it is necessary to reduce the influence of disturbances in the force signal as much as possible. In this paper an adaptive compliance controller for use with a direct physical human-robot interaction is introduced. The task of this controller is to stabilize the motion guidance of a manual force guided...
The fourth industrial revolution has called forth a transformation of how factories and their internal and external components and processes should integrate with each other. The need for fully connected cyber-physical systems is imperative to this vision. In the context of human-robot interaction this creates new exciting possibilities, but also creates challenges at the same time. The real-time...
This paper presents the concept and architecture of a model predictive feedback control system to be used for compensating communication delays in networked industrial robot control. This approach follows the ideas given by the paradigms of Industrie 4.0 that demand for highly networked production devices and functions on different machine layers and IT hierarchy levels. We push the concept of fully...
This paper introduces a new concept for flexible motion planning and control of industrial robots. Instead of a closed monolithic architecture, an open service-based framework is proposed. The services can be run hardware-independent on a decentralized IT infrastructure (Cloud) allowing a fast reconfiguration of control modules and their multiple usage in different tasks. The services can be run on...
This paper describes our concept for control of robots and machine tools through a private factory cloud which is dynamically extended by additional public resources. After discussing the opportunities and drawbacks of the virtualization of robot controllers (RC) and software programmable logic controllers (soft-PLC), we present first experiences with the setup of private and public infrastructures...
This paper gives an introduction to the process of an experimental project in pertaining to the planning and integrating of a human-robot interactive stone carving system. The process includes an analysis of manual stone carving by a professional sculptor, a risk assessment of the projected robotic assistant system resulting in the safety concepts, a design of a tool carrier with force sensors and...
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