In order to plan and simulate complex welding tasks the internal data structure of the RobotMotionCenter has been extended to be able to load and visualize external axes, i.e. a turn-tilt table. The progress of adapting and enhancing the existing functions to this new data structure has already begun and a communication based on the COWBOI protocol definitions has been set up. Also a path planner based on bidirectional single query rapidly exploring random trees has been implemented. The further work besides adjusting the existing functions to the new data structure will be on adapting the path planner to the implemented k-Opt heuristic and on smoothing the trajectory resulting by the planner.

Summary:

The task level user interface (task 3c) has been finished and the system concept is implemented partially. As the hardware has arrived almost completely the work is now focussing on accessing and integrating these parts. This subtask turned out to consume more manpower than expected.

The safety concept has been finished and the laser-scanner-based security system has been implemented. The system concept has been finished. Preliminary experiments regarding coarse geometry acquisition have been conducted. A new sensor is applied, as a deviation from the original proposal was necessary.

Several meetings with application partners, i.e. machine integrators and automotive suppliers, were held in order to identify promising application scenarios. Requirements were elicited and analyzed. The main scenario was determined in the domain of tube and piping, with a special focus on prototyping and pre-series production. Due to lacking human resources, only a premature safety concept could be developed and implementation was not possible, as hardware is also still missing. A laser scanner will be used to detect (human) obstacles and control the robot accordingly.