ViRoP

Virtual Robot Programming


Abstract

This research project investigates the programming of robot manipulation tasks without exact knowledge of the robot's capabilities and without exact information about the properties of both the environment (that is, the robot cell) and the gripped object. A sample application is the task of manipulating deformable linear objects, as outlined in the RODEO-project. To develop such a virtual method of programming, we have to answer the following questions:

  • How should the robot cell be presented to the operator?
  • Could an operator describe (or perform) the planned manipulation task?
  • How could the programmingsystem translate this task in a language, suitable for existing robot systems?

Our approach is the use of a graphical robot simulation system combined with a 6-DOF (Degrees of Freedom) input device. This device will allow intuitive manipulation of any object in the virtual cell and provide tactile feedback.

It is hoped that this direct and intuitive manipulation of the workpiece in such a virtual environment will ease the task of robot programming significantly, while minimizing the involvement of the actual robot.

Applications

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

Contact

Pictures

Videos

  • Acker, Jürgen
    Acker, Jürgen
    "Assembly demo with cable"

    2007, September
  • Kahl, Björn
    Kahl, Björn
    "Montagedemo Simulation"

    2006, June
  • Kahl, Björn
  • Timm, Sergej
    Timm, Sergej
    "DLO drawn over obstacle"

    2002, January
  • Timm, Sergej
    Timm, Sergej
    "DLO rotated over obstacle"

    2002, January
  • Timm, Sergej
    Timm, Sergej
    "DLO pressed horizontally (75)"

    2002, January
  • Timm, Sergej
    Timm, Sergej
    "DLO pressed horizontally (80)"

    2002, January
  • Timm, Sergej
    Timm, Sergej
    "DLO drawn over ladder"

    2002, January

Wanted

Student Jobs / Open Positions

Publications