In the end of March the project participants had a meeting at the Fraunhofer IFF in Magdeburg to present the current state of the experiment. Here, we implemented a simple pick and place scenario to demonstrate the functionality of the overall system under operating conditions.

Concerning Task 6, the focus was on integrating the developed software components into a working complete system. Therefore, from the beginning we capsuled the algorithms into services to offer the opportunity of individually use and compose them with other existing services. This enables us to easily build up the complete software system. Another part of Task 6 concerns the calibration of robot and sensor system to a common coordinate system. At first we calibrated the sensor system by using a single chessboard pattern to measure the poses of the surrounding cameras. The projector’s pose is determined by projecting specified patterns on a defined projection plane, which are detected by the calibrated cameras. For calibrating the robot we developed a semi-automatically method. Here, we project single small dots to the expected axis positions of the robot and refine its estimated pose iteratively.

In Task 7 the project participant KUKA is still processing the work of adapting their path planning algorithms. Here, we used the sensor system as a light section sensor to acquire a 3-dimensional reconstruction of the scene, which will be further used to calculate collision free paths of the robot.