On the implementation of transferable assembly applications for industrial robots
Conference: ISR 2018 - 50th International Symposium on Robotics
06/20/2018 - 06/21/2016 at München, Germany
Proceedings: ISR 2018
Pages: 7Language: englishTyp: PDFPersonal VDE Members are entitled to a 10% discount on this title
Halt, Lorenz; Tenbrock, Philipp; Naegele, Frank; Pott, Andreas (Fraunhofer Institute for Manufacturing Engineering and Automation IPA, 70569 Stuttgart, Germany)
Current frameworks for vendor-neutral robot programming fall short in transferring real-world manufacturing processes amongst different robot cell configurations. This paper focuses on transferability of robot programming and control frameworks. Our approach features a finite state machine that is used to supervise an underlying iTaSC-based control loop to realize a skill-based, process-oriented programming framework. After the framework’s requirements are derived, the specific implementation is elaborated and exemplified with three practical applications (screw driving, snap-fitting, and insertion). The applications are transferred from a Kuka LWR4+ robot to a Kuka KR16-2 industrial robot and to a Universal Robots UR5 lightweight robot.