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Fakultät für Mathematik, Physik und Informatik

Angewandte Informatik III - Robotik und eingebettete Systeme - Prof. Dr. Dominik HENRICH

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Robot-based Navigation for Milling at the Lateral Skull Base

Abstract

RODEO Tuermontage RODEO Transition Graph

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

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Prof. Dr. Dominik HENRICH

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