The video shows the sophisticated robot application “Automatic control cabinet cabling”, which Fraunhofer IPA implemented together with the company Rittal. The software pitasc, developed at Fraunhofer IPA, is used for force-controlled assembly processes. Two UR robot arms carry out the task together. The modular pitasc system enables the robot arms to move and rotate in parallel. They work hand in hand, with one robot holding the cable and the second bringing it to the starting position for the cabling. The robots can find, tighten, hold ready, lay, plug in, fix, move freely or immerse cables. They can also perform push-ins and pull tests. Push-in poses and waypoints within the cabinets are parameters to the robot program and directly read from the digital wiring plan.
In general, pitasc is used to program force-controlled assembly tasks in a structured and modular manner. Prefabricated, reusable program modules help to implement an application faster than before. Pitasc helps to re-parameterize the program for a new variant. Using force-torque sensors on the robot, pitasc records the process forces and thus enables force-controlled search and joining strategies. The compensation of component and position tolerances ensures the distribution of forces even with sensitive components.
Contact:
Lorenz Halt, Phone: +49 711 970-1031, E-Mail: lorenz.halt@ipa.fraunhofer.de
Frank Naegele, Phone: +49 711 970-1063, E-Mail: frank.naegele@ipa.fraunhofer.de
More information: www.pitasc.fraunhofer.de/en.html