Robotic system for flexible manipulation of objects and tools
The cell allows to build up solutions to automate operations of manipulation of pieces, or manipulation of tool on piece. The robotic system can be configured to perform operations of: pick and place of objects, or positioning of tool on object in both conventional and collaborative modes. The robotic system is formed by a robot manipulator of 6/7 degrees of freedom, equipped with three systems of vision:
1) external systems of 3D vision,
2) stereovision system in eye-in hand configuration and several tool systems for interchangeable grasping (suction and clamp)
3) force sensor.
The vision systems are configurable for use in two functions:
4) the detection and identification of the position of the pieces on the surface or in the container,
5) area monitoring to avoid collisions in case of operation in collaborative mode.
This cell offers the possibility of evaluating the feasibility and raise the automation of operations related to: bin-picking; operations on piece that require positioning of tool such as screwing / deburring; continuous tool control on surface for polishing operations, inspection. The cell allows analyzing requirements linked to cycle times, variability in positioning, security in collaborative mode, etc.
3D vision systems (Ruler Sick, Ensenso, Asus, Kinect), stereovision system composed of IDS cameras.
Sensitive manipulator robot of 7 degrees of freedom Kuka iiwa, collaborative manipulator robot 6 degrees of freedom UR-10.
Software modules: (1) 3D pose detection of objects, (2) area monitoring and (3) manipulation to define / execute trajectories.
Technical feasibility analysis
Demonstration / Approaching technology
Proof of concept
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