Reachability analysis for cooperative processing with industrial robots

Wagner M, Heß P, Reitelshöfer S, Franke J (2017)

Publication Type: Conference contribution

Publication year: 2017

Publisher: Institute of Electrical and Electronics Engineers Inc.

Pages Range: 1-6

Conference Proceedings Title: IEEE International Conference on Emerging Technologies and Factory Automation, ETFA

Event location: Limassol CY

ISBN: 9781509065059

DOI: 10.1109/ETFA.2017.8247646

Abstract

The cooperation of several industrial robots can improve processes or even makes new processes possible. In the scope of this work, the effect of the cooperation on the reachable workspace is investigated. Thus, the approach of reachability maps is extended to cooperative processing by simultaneously moving the tool and the workpiece. This allows a general statement about the improvement of the workpiece related reachability due to the simultaneous movement of tool and workpiece. A dual arm robot setup is used for implementation and the cooperative movement is compared to single arm movement by generating reachability maps for each case. In doing so, it is also presented how the integration of a collision detection improves the representativeness of the reachability maps.

Authors with CRIS profile

Sebastian Reitelshöfer Lehrstuhl für Fertigungsautomatisierung und Produktionssystematik Jörg Franke Lehrstuhl für Fertigungsautomatisierung und Produktionssystematik

Involved external institutions

Technische Hochschule Nürnberg "Georg Simon Ohm" DE Germany (DE)

How to cite

APA:

Wagner, M., Heß, P., Reitelshöfer, S., & Franke, J. (2017). Reachability analysis for cooperative processing with industrial robots. In IEEE International Conference on Emerging Technologies and Factory Automation, ETFA (pp. 1-6). Limassol, CY: Institute of Electrical and Electronics Engineers Inc..

MLA:

Wagner, Maximilian, et al. "Reachability analysis for cooperative processing with industrial robots." Proceedings of the 22nd IEEE International Conference on Emerging Technologies and Factory Automation, ETFA 2017, Limassol Institute of Electrical and Electronics Engineers Inc., 2017. 1-6.

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