In the last reporting period, the project is developing from experiment conception and architecture design into the installation of the experiment prototype system. We have collected most of the equipment offers and are now initiating the orders. Due to the late official accession, orders are a bit behind the plan. We have therefore chosen to extend the theoretical exploration of the experiment.

For simulation and safety of the operator, we have introduced virtual environments into the robot control system. The virtual environment is simulated by a virtual force-sensor. The force sensor can detect virtual walls or virtual process forces and let the robot control system react on these forces. It is now possible to define a space for safe movements of the robot and to define zones inside the sculpture where no carving processes should be conducted.

In this step of the experiment conception, the robot control design took place. There is now a robot control architecture with an extended impedance controller and an open communication interface to the industrial robot control box. Further the safety system has beeing integrated into the robot control and the experiment architecture. There are several types of safety equipment planned into the system for a maximum redundant safety for the operator, the robot and even the environment. The heart of the safety system is built by a dynamic simulation of the overall robotic system.