Collaborative control with industrial robots

摘要

The main goal of this project is the remote control of KUKA industrial robots based on KRC 4 controllers. A possible application scenario is an operator who wants to transport loads between non-fixed points. In practice, this scenario could be used, for loading trucks. The usage should be as intuitive as possible and not as uncomfortable as the teaching pendants keys. The following paper describes the solution of the problem, using the software package mxAutomation and the human robot collaboration (HRC)-capable LBR iiwa. The iiwa is handled by the operator in the new handguiding mode while transmitting the corresponding data to a PLC which moves the robot carrying the loads.The application has proved to be a useful tool since the mirrored movements are sufficiently fluid to provide an intuitive use. In the overhead area of the load carrying robot, however, there was a potential for improvements due to the occurrence of singularities.