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  4. On the implementation of transferable assembly applications for industrial robots
 
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2018
Conference Paper
Title

On the implementation of transferable assembly applications for industrial robots

Abstract
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.
Author(s)
Halt, Lorenz  
Fraunhofer-Institut für Produktionstechnik und Automatisierung IPA  
Tenbrock, Philipp  
Fraunhofer-Institut für Produktionstechnik und Automatisierung IPA  
Nägele, Frank  
Fraunhofer-Institut für Produktionstechnik und Automatisierung IPA  
Pott, Andreas
Fraunhofer-Institut für Produktionstechnik und Automatisierung IPA  
Mainwork
50th International Symposium on Robotics, ISR 2018  
Conference
International Symposium on Robotics (ISR) 2018  
File(s)
Download (5.62 MB)
Rights
Use according to copyright law
DOI
10.24406/publica-fhg-401021
Language
English
Fraunhofer-Institut für Produktionstechnik und Automatisierung IPA  
Keyword(s)
  • Roboterprogrammierung

  • framework

  • Industrieroboter

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