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On the implementation of transferable assembly applications for industrial robots

: Halt, Lorenz; Tenbrock, Philipp; Nägele, Frank; Pott, Andreas

Preprint urn:nbn:de:0011-n-5038177 (5.6 MByte PDF)
MD5 Fingerprint: f9bdf038dda8f9863e40d7ad11014101
Created on: 23.10.2018

Informationstechnische Gesellschaft -ITG-; Verband Deutscher Maschinen- und Anlagenbau e.V. -VDMA-, Frankfurt/Main; Informationskreis für Raumplanung e.V. -IfR-, Dortmund:
50th International Symposium on Robotics, ISR 2018 : June 20-21, 2018 Messe München, Entrance East, Munich, Germany
Berlin: VDE Verlag, 2018
ISBN: 978-3-8007-4699-6
ISBN: 3-8007-4699-9
International Symposium on Robotics (ISR) <50, 2018, Munich>
Conference Paper, Electronic Publication
Fraunhofer IPA ()
Roboterprogrammierung; framework; Industrieroboter

Current frameworks for vendor-neutral robot programming fall short in transferring real-world manufacturing processes amongst different robot cell configurations. This paper focuses on transferability of robot programming and control frameworks. Our approach features a finite state machine that is used to supervise an underlying iTaSC-based control loop to realize a skill-based, process-oriented programming framework. After the framework’s requirements are derived, the specific implementation is elaborated and exemplified with three practical applications (screw driving, snap-fitting, and insertion). The applications are transferred from a Kuka LWR4+ robot to a Kuka KR16-2 industrial robot and to a Universal Robots UR5 lightweight robot.