Sensitive Robot based Gripping
Solutions are commercially available for force- and torque-sensitive handling of objects, which are almost exclusively limited to the phases of object pick-up and drop-off. With today's technology, direct gripping forces, collisions with the environment and other force/torque-related parameters can be detected. The dynamic behavior of an object in the gripper and the control over it has not yet been the subject of industrial applications, although this can offer significant advantages, e.g. for cycle time reduction and process reliability. In particular, the resulting conservative design of the movement process offers great potential for improvements in movement planning. This is where the project starts.
Thanks to the implemented CPPS capabilities, the intelligent gripper offers in every phase of the handling process the acquisition and provision of the currently applied forces and torques - i.e. those actually affecting the product - and thus, for the first time, the possibility directly thanks to the real-time feedback that has also been implemented in the movement control of the robot to react to these force and torque values in the process. The monitoring and control of the object behavior or the movement process of a robot will have positive effects on a wide variety of factors in the handling process, such as reducing gripping errors or making better use of the system potential. A central part of the development will be the sensory component and its integration into the system, which enables an exact localization of an object in the gripper and the determination of its force/torque-related behavior.
SenRobGrip is a joint project of the Chair of Production Engineering at the Ruhr University Bochum, IBG Robotronic GmbH and IBG Automation GmbH.
This project is funded by the European Union and the state of North Rhine-Westphalia with funds from the European Regional Development Fund (ERDF).