An intuitive user interface for SCARA robots was implemented allowing to move the robot by dragging its arm in the HMI. The tripod IKP was solved and implemented analytically. An analytical solution for the DKP was found.

The project partners Schunk and IPT agreed to additionally characterize a 6 DoF modular elbow manipulator and another SCARA for desktop applications in order to be able to compare results. Also, the KEBA control solution will be provided temporarily by Schunk in order to characterize the systems using industry equipment.

The flexprass experiment shall prove feasibility of combining lightweight desktop robots capable of close human-machine collaboration (Schunk) with high-precision manipulators (Fraunhofer IPT), e.g., needed for automated assembly of optical systems and lasers. Partners configured customized manipulator based on PowerCube modules according to industry-relevant assembly scenarios defined for the experiment such as the alignment of fast axis collimation lenses (FAC), setup peripheral hardware and worked out control concept.