Datum / čas
Date(s) - 15.03.
10:00 - 15:00
Kategorie ne Kategorie
RICAIP Training: Planning & Deployment of Sensitive Robot Applications Based on Integrated Torque Sensors
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.
Agenda:
- 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 an 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
- Conclusion
Speaker: Dr. -Ing. Ali Kanso, Research assistant at ZeMA , Project Manager at Robotix Academy.