Key items in the development of a new smart robot generation are explained in light of DLR's recent activities in robotics research. These items are the design of articulated hands, ultra-lightweight links, and joint drive systems with integrated joint torque control, sensory feedback including real-time 3-D vision, learning and skill-transfer, modeling the environment using sensorfusion, and new sensor-based off-line programming techniques based on teaching by showing in a virtual environment.
Abstract. Robot-Robot and Human-Robot cooperation technologies are about to mature in commercial robotics applications. In this paper we outline KUKA's cooperating robot technologya nd show its potential benefit in automotive production. A major step in demonstrating human-robot coexistence has been achieved by the KUKA RoboCoaster, a robotic entertainment system. Further steps are discussed by showing potential technologies for safeguarded human-robot interaction in production.
Zusammenfassung
Forschungsergebnisse in marktfähige Produkte zu verwandeln erfordert ein beträchtliches Maß an Ausdauer und starkes Unternehmertum. Der KUKA Leichtbauroboter (LBR) ist das jüngste Ergebnis einer langjährigen Forschungs- und Entwicklungskooperation zwischen der KUKA Roboter GmbH in Augsburg und dem Institut für Robotik und Mechatronik des DLR in Oberpfaffenhofen. Dieser Beitrag schildert den Weg der Produktentstehung, den innovativen Charakter des LBR und zeigt erste Anwendungsbeispiele.
Compliant motion tasks can be programmed by human demonstration without the use of the actual robot system. I n space applications and sensor off-line programming systems the task is planned and programmed in a virtual reality environment which simulates the world model of the task to be performed. Furthermore in industrial and service applications teach devices measuring the force and motion of the human hand allow the operator to demonstrate a task in a very natural way. By using dynamic manipulability analysis of motion and force, we investigate if a Compliant motion trajectory obtained by above described demonstration processes can be executed on a given robot. W e analyze the maximum task workspace of executability, the optimal robot-task configuration and the range of necessary or possible scaling factors for motion and forces. The approach is demonstrated using a numerical example.
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