KUKA omnimove _drive technology

Transcription

1 Basics KMP 400 KMP 1500 omnimove KMR iiwa KMR QUANTEC Future Robots KUKA omnimove _drive technology Page: 1

2 Basics KMP 400 KMP 1500 omnimove KMR iiwa KMR QUANTEC Future Robots _mobile robotics omniwheel basics The omniwheel consists of 2 rim disks and up to 9 rollers 45 Rollers are arranged in 45 The complete wheel is propelled by an electrical motor [1] Rollers are free-wheeling Wheels are available in three sizes [1] Page: 3

3 Basics KMP 400 KMP 1500 omnimove KMR iiwa KMR QUANTEC Future Robots _mobile robotics Unlimited maneuverability Legend Wheel turning direction Wheel turning direction faster speed Vehicle driving direction Moving Straight Ahead All wheels move at the same speed and in the same direction. Moving diagonally Each pair of wheels across a diagonal moves at the same speed, while the two pairs move at different speeds; all wheels rotate in the same direction. Moving Sideways Each wheel moves in the opposite direction to the one next to it. All wheels move at the same speed. Rotation The two wheels of each side move at the same speed and in opposite directions to the other side. Page: 4

4 Basics KMP 400 KMP 1500 omnimove KMR iiwa KMR QUANTEC Future Robots _mobile robotics Video Drive Concept KUKA MOBILE PLATFORMS DRIVE CONCEPT Link to video on YouTube: Page: 5

5 Basics KMP 400 KMP 1500 omnimove KMR iiwa KMR QUANTEC Future Robots _mobile robotics Space saving technology steered conventionally omnimove Reduction of logistics space (= more production space) No special tillage necessary (standard cement) No floor abrasion Highest positional accuracy up to +/- 1 mm Space for turning circle tricycle principle omnimove principle Reduction of manoeuvring space, in this case up to 50% Reduction of manoeuvring space, in this case up to 60% Page: 6

6 Basics KMP 400 KMP 1500 omnimove KMR iiwa KMR QUANTEC Future Robots _mobile robotics with more flexibility With a conventional drive, the production need to adapt to the car. With KUKA omnimove products, the vehicles fit seamlessly into the production. omnimove knows far less movement limits than conventional drives Page: 7

7 Basics KMP 400 KMP 1500 omnimove KMR iiwa KMR QUANTEC Future Robots _mobile robotics Flexible turning point (yellow point) with omnimove technology 3 wheel Conventional Only one turning point possible this is fixed in the middle of the rear axle. 3-Rad - differential center of rotation can variably between the center of the right wheel and the center of the left wheel on the rear axle. Adaptation by the direction of rotation and speed of the individual wheels. omnimove The center of rotation is freely configurable, it can be anywhere, whether at the car or at a point in the arounded space. You determine where it is located. Normally the center of rotation is at the center of the vehicle (yellow point). Page: 8

8 Basics KMP 400 KMP 1500 omnimove KMR iiwa KMR QUANTEC Future Robots Div. Video _mobile robotics AE_R 352 OmniMove bei Fa Enercon ohne Nachläufer.wmv AF_R 440 omnimove Triple Lift_Flexible MRO Platform_1080pHD.wmv AH_R 449 KUKA Automatica 2014 MOIROS_1080p.wmv Page: 9

9 Basics KMP 400 KMP 1500 omnimove KMR iiwa KMR QUANTEC Future Robots _mobile robotics _KUKA.NavigationSolution clevere Autonomie für mobile Roboter Page: 14

10 Basics KMP 400 KMP 1500 omnimove KMR iiwa KMR QUANTEC Future Robots _mobile robotics KUKA.NavigationSolution _flexibility _safety _fleet management _real-time tracking _collision free path planing _scalable autonomy _wireless path planing Page: 15

11 Basics KMP 400 KMP 1500 omnimove KMR iiwa KMR QUANTEC Future Robots _mobile robotics Possibilities of navigation 1 manual operatio n 2 3 Inductive guidance Optical guidanc e Magnetic grid Rotating laser with reflectors Indoor GPS 4 autonomy KUKA Mobile Platform KUKA Mobile Robot Page: 16

12 Basics KMP 400 KMP 1500 omnimove KMR iiwa KMR QUANTEC Future Robots _mobile robotics Basic questions navigation How does the world look like? Mapping (Graph-Based SLAM) + = Where am I? Localization (Particle filter) How to get from A to B? Path Planning Page: 17

13 Basics KMP 400 KMP 1500 omnimove KMR iiwa KMR QUANTEC Future Robots _mobile robotics Video Navigation Solution KUKA MOBILE PLATFORMS NAVIGATION SOLUTION Link to video on YouTube: Page: 18

14 Basics KMP 400 KMP 1500 omnimove KMR iiwa KMR QUANTEC Future Robots Mapping _mobile robotics Record environmen t Creating Map Transfer map to pc Hangar as empty as possible Can be reworked Teaching target locations and graph creation Page: 19

15 Human-Robot-Collaboration Seite: Page: 20

16 Production : either - or Manual Production Full- Automation Degree of automation Page: 21

17 Production today: variable degree of automation Manual Production Degree of automation Human- Robot- Collaboration Full- Automation Page: 22

18 Forms of human-robot collaboration No fixed guard, virtual safety fence contact not desired, unlikely (e.g. photo-electric barrier) Fixed safety fence contact not possible Robot workspace Operator workspace Shared workspace Shared workspace, but exclusive motion contact possible, but only with stationary robot e.g. in the case of industrial robot as handling assistant Shared workspace contact desired, simultaneous motion (e.g. manual guidance) Shared workspace contact not desired, but possible Page: 24

19 Automation KUKA masters all scenarios of HRC 1 Page: 25

20 Automation KUKA masters all scenarios Page: 26

21 Automation KUKA masters all scenarios of HRC 1 Page: 27

22 Automation KUKA masters all scenarios of HRC 1 Page: 28

23 Automation KUKA masters all scenarios of HRC 1 Page: 29

24 Automation KUKA masters all scenarios of HRC 1 Page: 30

25 Automation KUKA masters all scenarios of HRC 1 Page: 31

26 Service robotics with LBR iiwa 1 Revolution in production 1) LBR iiwa Leichtbauroboter intelligent industrial work assistant Page: 32

27 Standards for Collaborative Applications? Page: 33

28 Page: 34