In the current reporting period we finished Task 1, Task 2 and Task 3. So, regarding to Task 1, we developed a concept for integration of sensor-system and the KUKA LWR wherein we have focused on communication and software interfaces. We have described a concept of an experimental technical framework, analyzed available communication interfaces and discussed their fitness for the individual communication tasks.

In Task 2 the project participants identified three different approaches to calculate the robot workspace which has to be supervised. Additionally we worked out typical use cases and identified those use cases which pose interesting challenges for the EXECELL system.

In Task 3 we finished the workspace setup by mounting required sensors like cameras and projector, mirror and additional equipment on the carrier and bring them into service. The collaborative workbench equipped with the KUKA LWR was placed under the carrier and thus completing the setup as seen in Figure 1.

Figure 1: Entire workspace setup consisting of system carrier, 4 cameras, projector and mirror, workbench with KUKA LWR and integrated controller, and additional hardware equipment.