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RICAIP Training: Planning & Deployment of Sensitive Robot Applications Based on Integrated Torque Sensors
March 15, 2022 | 10:00 – 12:00 UTC+1
The Training/Tutorial will introduce force-controlled applications in the domain of robotics. The motivation of those applications will be discussed as well. Participants will learn how to plan a robotic sensitive application. A method to design an appropriate measuring concept will be introduced. The session deals with the conception of the robot controller to achieve the desired sensitive application based on the requirement of the process and monitoring of the exerted forces. The presented methods will be validated on a real demonstrator, which will be shown and discussed using video.
Please register by March 11th.
Industrial robots become widely used in manufacturing. The complexity of production processes and products challenges the use of robots, so position-controlled robot systems and sensor systems sometimes reach their limits. The use of force-controlled or sensitive robot systems represents a possible solution. It reduces the measurement inaccuracies and large tolerances when implementing complex production tasks and does not require more precise information about the robot environment. Special sensor technology and selected control strategies enable sensitive robot systems to interact with their environment. This interaction can be implemented as force-controlled applications, that offer a high application potential in the industrial environment with regard to the automation of assembly and manufacturing processes. The external forces and torques are often determined computationally based on 1D sensors in each axis of the robot. A novel method for the processing of the measured data is a requisite to improve the accuracy of force-controlled applications based on a serial robot with integrated sensors.
- Introduction and State of the art
- Fundamentals of robotics – control strategies
- Development of a solution approach
- Condition number of the Jacobian matrix or manipulability of the kinematics as optimization criterion
- Optimization process to identify the best configuration in a pose
- Design of an offset in a dynamic environment
- Optimization of the configuration along a defined path
- Graphical User Interface (GUI)
- Validation of the solution approach
My journey at ZeMA started in 2015. ZeMA offers an international and friendly research atmosphere, where I am leading the Robotix Academy project since March 2020. Currently, I am supervising the research group for robotics and human-machine interaction. I received the B.Sc. and M.Sc. degrees in mechatronics from the Saarland University, Saarbrücken, Germany, in respectively 2013 and 2015. Moreover, I completed my PhD studies on sensitive robotics at 2021 at the University of Saarland. My research interests include modeling and calibration of manipulators as well as sensitive and applied robotics.