Challenge 2

Shop Floor Logistics and Manipulation

Challenge 2 Three application scenarios will be considered. The first one is based on a stationary LWR and a simulation environment. The contestants will integrate their solutions in a well‐designed and tested simulation environment that encapsulates all low‐level control and reflex planning loops of the LWR. The simulation environment will be accessible over the Internet. Algorithms which are expensive in terms of required computing power will be relayed to a cloud. In the second application scenario the same Internet‐based framework is used to control a real LWR mounted on a mobile base, the KUKA omniRob, operating in simplified manufacturing environment. The third scenario will replicate a realistic manufacturing set‐up with work pieces of a real end‐user. Challengers will be asked to solve a set of tasks using the LWR‐omniRob platform.

Summary

Motivation:

Addresses the SRA2009 scenarios Logistics and Robotic Co-Workers
Mobile manipulators as suggested solution
Utilization as logistic carriers and dexterous manipulators

RTD Issues:

Bring torque controlled robots to advanced industrial applications
Enable robots to operate autonomously in unstructured environments
Establish safe and effective human-robot collaboration schemes
Develop new applications and markets

Challenge Platform:

Hardware:
- Omnidirectional base (omniRob)
- Navigation included
- Compliant robot (LBR5 iiwa)
- Sensor pole: depth images from stereo
- TCP camera (depth and images)
Software:
- KUKA Sunrise (Java-based) for manipulator and base programming
- Sunrise connectivity for motion programming
- Framework for base and advanced functionalities (e.g. motion planning)

Support from Challenge Host (DLR + KUKA Labs):

Management and support of mobile manipulator base/arena installation
Provision and support of the existing technologies on the system and best practices