con3922 bridging the worlds of it and robotics

8/18/2019 CON3922 Bridging the Worlds of IT and Robotics

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creating a

new robotic

world_

KUKA Laboratories GmbH | S. 1 |

Bridging the Worlds of IT and Robotics [CON3922]

C. Tarragona, G. Dörner

| L-F&E-C| C. Tarragona, G. Dörner | 02.10.2014

Bridging the Worlds of IT and Robotics


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Involving the community and creating aneveryone’s robot who can talk with people and things_

_The robot as coworker, assistant and companion, the sensory robot that

extends the limits of automation and a robot for every task.

creating a new robotic world_

_enabling you to realize

your potential and your ideas


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DE | L-F&E-C| C. Tarragona, G. Dörner, A. Chekler | 04.08.2014

KUKA AG

KUKA Systems KUKA RoboticsIndustrial Robotics KUKA Laboratories




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KUKA Laboratories

New robotic technologies for medical applications.

System partner for innovative companies in the field of medical technology.




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KUKA Laboratories

Through existing key technologies such as safety, simple operator control concepts

and autonomous navigation, robots become ever-present assistants.




7/32DE | L-F&E-C| C. Tarragona, G. Dörner, A. Chekler | 04.08.2014

Innovation

First robot ic revolut ion:

Industr ial automation

Second robot ic revolut ion:

Sensit ive, safe and robot based

automat ion

Future

Fourth robot ic revolut ion:

Intel l igent and perceptive

robot systems

Third robot ic revolut ion:

mobi le m anipulat ion

Towards to the 4th Robotic Revolution





Key Features

Human Robot CollaborationThe robot as coworker, assistant andcompanion

Sensor IntegrationThe sensory robot that extends the

limits of automation

Multi-Kinematics A robot for every task

Easy to use

Everone’s robot

Connectivity & CommunityInvolving and enabling the community

Safe Operation

Collision Detection

Smart React

Sensor Strategies

Hybrid Control

1ms Cycle Time

Dual-Arm, Mobile Platforms and more

Other Kinematics

Complex Grippers

Mobile Manipulation

Out-of-the-box Setup

Simulation & EngineeringGraphical Programming

Programming by Demonstration

Object Based Motion

Software Development Kits

Mainstream IT – Java, Eclipse

Marketplace & AppStore & Cloud





Software – driver of innovation

“software defines the

product”

i n

n o v a t i o n & v

a l u e

sensor based robotics

further boosters:

- connectivity

- community




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The IoT from a robotics perspective

ERP

Home Automation

Factory

sensor-based, multi-kinematics, mobile,

human robot collaboration

UI/HID

Parts

Hospital

Smart Tools

Warehouse





Warehouse / Logistics




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Introducing Java and KUKA Sunrise



IoT

enhance/extend

involve

orchestration

realtime control

Sunrise –

con trol softwarefor senso r-

based and safe

robots



Introducing Java and KUKA Sunrise

sensors safety object based

motion

programming &

operation

modular &

open interfaces

multi-kinematics

1ms cycle and switching Parallel real-time processes Coordinate system

transformation servicesHybrid controlFast triggers on signals and events

“…one API to rulethem all”




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Robot Applications in Java





Classical Industrial Robotics



Videos



The KUKA LBR iiwa




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Why Java?



Sensor data adds more complexity to the applications.Object Oriented Design helps us to deal with this complexity

A wide range of highly developed and advanced tools is available on the market

Java is widely spread

A huge repository of useful libraries is available

Java has a strong community



RoboticsAPI: Moving a robot



Any frame related tothe flange of the robot

tcp.move(ptp(P1));

Tool Center Point (TCP)



RoboticsAPI: "Object Based Motion"



Any frame related tothe flange of the robot

tcp.move(ptp(P1));

Tool Center Point (TCP)


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C. Tarragona, G. Dörner | 03.09.2014




Description of the motionto be performed

tcp.move(ptp(P1));


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RoboticsAPI: Impedance mode



Specify the robotcontrol mode

tcp.move(ptp(P1).setMode(softImpedance));


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Add real time actionsbased on sensor data

tcp.move(ptp(P1).setMode(softImpedance).breakWhen(forceCondition));


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C. Tarragona, G. Dörner | 03.09.2014KUKA Laboratories GmbH | S. 29 |

Sunrise Architecture


Safety

Non Real Time

Real TimeSunrise RT System

Services

Application Server

App AppRobot

Apps


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Robot Controller

Sunrise RT System

Application Server

Safety

App AppRobot

AppService


Scalability



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IPC

Application Server

App AppRobot

AppService


Scalability


Robot Controller 1

Sunrise RT System Safety

Robot Controller 2

Sunrise RT System Safety


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Multi-Robot Application Example




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Sunrise Software Platform



Core


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con3922 bridging the worlds of it and robotics

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