Part 9/10
Companies are usually dependent on a particular type of gripper arm or on one manufacturer. Converting at a later stage is hardly possible, as programmers are usually specialised in this one system. Developing new motion sequences also takes a lot of time. Our project HIRAC aims to simplify the transfer of motion sequences to a new robot.
After our system has been developed and trained, the transfer to other robotic arms, other sensors and other cameras must be tested. Differences in the design of a robotic arm or in the accuracy of a sensor can, for example, cause the motion sequences to differ.
A specific robotic arm was used to test our system. Various parameters were defined, such as a movement radius or the speed limit. Because the robotic arm used previously was replaced, we had to check these parameters for the new arm. For the first tests, we integrated the new arm into the simulation environment to check the adjustment of existing parameters.
To work more time-efficiently during the integration of new hardware, the parameters are to be adjusted automatically in the system rather than by hand. This means that only a few tests and checks are needed. The system is trained in such a way that existing parameters can be changed automatically in the simulation environment in order to reach defined values or virtual zones. The training in a real environment can then take place, and values can be adjusted manually at any time.
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