Programming and control

Going depper into kinematics and sensory science

Robotics is played out on three interdependent levels: (1) robots and technical equipment; (2) application development, control logic and programming; and (3) handling, use and operation. POMA Systems’ engineers and IT experts modify systems as required in each application situation. This primarily affects electrical engineering methods and procedures, IT issues, software design and concepts derived from this in higher programming languages.

Bespoke application solutions

Deviating from the norm often the rule

It is often the case in situations where applications are being tailored to a client’s specific needs that special functionalities are required that are rather atypical for robots. In such cases, customisations and add-ons to the hardware and software are required. This applies, for example, when the aim is to transfer to a robot the tactile capabilities and powers of the human arm. In order to regulate the robotic arm’s acceleration and its deployment of force realistically, the sensors and kinematics need to be modified, with forces and acceleration torques being measured at the point where their impetus is the greatest. For doing this special acceleration recorders and interface programming for power-controlled movement of the robotic arm are both essential.

Example

Robot door closing test

• Development and long-term test bench
• Doors on commercial vehicles
• Configuration with two robots
• KUKA KR 150 industrial robot system
• Teaching-in different types of door: side-hinged, hatch and sliding
• Sensory monitoring of door position, acceleration and forces applied to the doors
• Realistic simulation of forces exerted by the human arm
• Client: Daimler, Stuttgart