Robot Programming in Virtual Environments

Fig. 9: Virtual robot programming with 6-DOF input devices and graphical simulation systems
Fig. 9: Virtual robot programming with 6-DOF input devices and graphical simulation systems
Fig. 10: Simulation system during calculation of a contact-based, robot-independent assembly programme
Fig. 10: Simulation system during calculation of a contact-based, robot-independent assembly programme

Project definition

Assembly tasks which are to be automated are demonstrated by the user in virtual environment (VR) and observed by the system. A control programme is then generated using the data from the observation, allowing the robot to execute the assembly task in the real world (Fig. 9). Special emphasis is placed on the demonstration of the intuitive demonstration, which takes includes haptic feedback, and also on the robot-independent representation of the generated assembly programme (Fig. 10).

Areas of expertise

  • Real-time capable simulation of the dynamic behaviour of stiff and deformable workpieces
  • Calculation of force and torque values with a refresh rate of more than 1000 Hz for haptic feedback
  • Automatic generation of robot independent, contact-based assembly programmes based on demonstrations performed in virtual environments
  • Adaptation of robot independent assembly programmes to real robots to enable sensor-based execution of tasks

Applications

  • Manipulation of stiff or deformable linear objects
  • Automatic generation of assembly sequences to be used in sensor-based execution of tasks

Projects

Wanted

Student Jobs / Open Positions