Task 2 – Derivation of the Direct, Inverse and Differential Kinematics

The design of algorithms to compute torque optimized torques paths and its related position and velocity trajectories were worked out and finalized. Furthermore, all algorithms were implemented in closed MATALB functions.

Task 3 – Construction of the Robot System

The construction of the robotic arm was finalized by Igus as planned. It consists of a new robolink joint type with an asymmetrical angular workspace, that will be first tested within the ALEXA experiment. Furthermore, the base frame, the motor bearings, and the rope winches have been built up. The compact drive system will be finalized until November.

Task 4 – Implementation of the Main Control

We have already set up an industrial embedded PC and a software framework for the main control of the ALEXA robotic arm. Furthermore, we have begun implementing basic control tasks and functionalities. Later, a graphical user interface and image processing routines will be also implemented in software of the main control.