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DEVELOPING COL LABORATIVE APPL ICATIONS USING THE KUKA IIWA
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Resumo(s)
Developing applications for collaborative robots, like the KUKA iiwa, is a challenging task.
These types of robots generally have a difficult architecture to interact with, and their
programming language is not very user-friendly. In the Advanced Robotics and Smart
Factories Laboratory of the Polytechnic Institute of Leiria, we have an industrial robot,
model KUKA iiwa 7 800. The project described in this report was built in order to facilitate
the development of robotic applications in the industry, based on the idea of interacting
with the KUKA robot using a Multi-purpose Flange Adapter System, to perform a pick
and place task and a Path Following with Force Feedback task. To do so, a device was
developed consisting of two modules, each controlled by an ATmega microcontroller, and
can communicate with each other by wire or wirelessly. The robot and device are linked
with the KUKA control unit, using digital ports from a Beckhoff module. The conducted
tests and the analysis of the results showed that the system worked as intended.
Descrição
Palavras-chave
KUKA iiwa Handguiding Device Pick Up and Place Force Feedback Manipulation Application