Call2 Monitoring flexprass

Public Summary Month 11/2012

Fri, 30 Nov 2012 19:55:28 GMT

The tripod has been assembled and was put to operation successfully including the clamping mechanism of the protection module. The animations have been extended to show the tip and tilt rotational motion. Additionally, a video was taped showing similar movements in reality.

All objectives of the experiment have been achieved.

Public Summary Month 9/2012

Tue, 02 Oct 2012 11:24:50 GMT

Image processing routines for automated lens pickup have been implemented. That includes routines for calibrating camera coordinate systems with the robot base coordinate system and for finding out translational and rotational offsets between robot TCP and target camera view (camera attached to robot TCP or to micromanipulator).

Sensitivity analysis (power plot) regarding tipping and tilting of resonator mirror has been implemented with the micromanipulator performing steps of five millidegrees each 50 milliseconds. The limits of the system have not been touched yet.

Public Summary Month 7/2012

Mon, 30 Jul 2012 11:31:39 GMT

The construction of the tripod micromanipulator has been finished. The concept includes high precision motion resolution for tip and tilt angles as well as Z-direction, mechanical protection, and integrated machine vision. Image processing routines have been implemented for identifying lenses of different types and to “auto-focus” the robot above the optical components. The information from image processing can be used to pick up optical components autonomously.

Public Summary Month 5/2012

Thu, 31 May 2012 19:28:18 GMT

For operating the robot and the peripherals a graphical user interface (GUI) has been implemented. The GUI offers functionalities for teaching robot poses, for commanding peripheral devices, and to save and load programs. Using the GUI a tool exchange procedure was programmed.

The motion resolution of the micromanipulator was analyzed using a 3-beam-interferometer. Subject to the analysis was the motion resolution in tool-direction (Z-direction). Steps of 10 nm could be resolved by the hardware.

Public Summary Month 3/2012

Fri, 30 Mar 2012 11:35:17 GMT

A camera for observing the working area of the precision manipulator “Commander6” was integrated for automated pick up of optical components.

For systematically designing tripod kinematics based on flexures for higher precision and step resolution a design methodology was worked out for realizing the design objective of a defined work space considering constraints and secondary design objectives.

First measurements of repeatability and dynamic behaviour such as overshoot were carried out with four laser tracers which allow precise measurements in a large workspace.

Public Summary Month 1/2012

Tue, 31 Jan 2012 19:57:51 GMT

The modular robot by SCHUNK has been setup and Fraunhofer IPT now extends the stand-alone robot operator interface to be capable of programming complex assembly tasks. Reusable automation steps such as robot tool exchange have been identified and described in a hardware-independent manner so that automation steps can be reused on different platforms. An analytical solution for the DKP of the high-precision tripod to be developed has been found and implemented.

Public Summary Month 11/2011

Wed, 30 Nov 2011 08:24:15 GMT

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.

Public Summary Month 9/2011

Thu, 29 Sep 2011 19:59:39 GMT

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.