Autonomous robotic handling applying sensor systems and 3D simulation

摘要

Industrial robots are not autonomous enough to cope with unexpected changes in their environment. The suitability of generated handling programs strongly depends on the locations of the objects to be handled. To deal with such problems, a system was developed at the IWB (Germany). The system consists of a mobile robot, a 3D simulation system, a sensor system and a computer which controls and coordinates all the components mentioned before. When an object is to be handled its actual position is determined by the sensor system and transferred to the simulation system. Reality and simulation are matched and the handling program of the robot is adapted to the actual situation. Finally, the handling program is transmitted to the robot control and the handling is done by the robot.< <ETX xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">&gt;</ETX>