Heavy Duty Robotic Manipulator with In-Situ Programme Generation
Heavy-Duty Robotic Manipulator with Situational Programme Generator
The increasing intelligence of sensor guided industrial robots enable them to overtake more and more applicational tasks. Despite that, there always will be left a certain spectrum of handling tasks, that still have to be performed by a human operator controlling a manipulating arm - due to complexity and safety reasons. Unfortunately manual positioning of manipulators is generally a permanent source for operational faults, accidents and high costs. To overcome the given problem a hybrid control system architecture is proposed that allows: manual arm control, program execution and the smooth switch among both operational modes at any time. As key component a Context-Sensitive Online Program Generator is specified, developed and implemented. The validity of the chosen approach and its possibilities are proven in a 3D-graphical simulation incorporating all high-level control modules and the operator interface. The applicational requirements for the control system architecture are taken from a heavy duty handling task in coal mining.