Part 9/10
Companies are usually dependent on a specific type of gripper arm or manufacturer. Retrofitting is hardly possible, as the programmers are mostly specialized in this one system. The development of new motion sequences also takes a lot of time. Our HIRAC project aims to simplify the transfer of motion sequences to a new robot.
After the development and training of our system, the transfer to other robot arms, other sensors and other cameras must be tested. Differences in the architecture of a robot arm or in the accuracy of a sensor, for example, can lead to different movement sequences.
Our system was tested with a specific robot arm. Various parameters were defined, such as a movement radius or the speed limit. By replacing the robot arm already in use, we had to heck these parameters for the new arm. For the first test, we integrated the new arm into the simulation environment to check the adaptation of existing parameters.
In order to be able to work more time-efficiently when integrating new hardware, the parameters should not be adjusted manually but automatically in the system. This means that only a few test and checks are required. The system is trained in such a way that existing parameters in the simulation environment can be changed automatically to achieve specified values or virtual zones. Training in the real environment can then take place and values can be adjusted manually at any time.
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