INTUITIVE ROBOT PROGRAMMING WITH FORCE-TORQUE SENSORS
During the programming of the robot using a force-torque sensor, the operator leads the robot by the hand along the desired trajectories as part of the teach-in-operation process. In this process, the forces and torques exerted by the operator’s hand are stored together with the coordinates of the trajectory points passed. This process permits programming even by persons who are not programmers such as plant operators and workers. In addition, expert personnel are able to contribute their many years of expertise to the programming.
In hand-guided programming, the necessary process-specific parameters can be specified with the help of various add-on modules. Already available add-on modules include:
- Induction hardness
- Dry ice cleaning
- Intuitive operation and programming – no programming skills required
- Short learning curve for workers and plant operators
- Improvement of robot application as many years of know-how are directly integrated in the programming
- Tackling of complex tasks
- Avoiding errors that may occur between the virtual and real world
APPLICATION EXAMPLE: INDUCTION HARDENING OF METAL SHEET FORMING TOOLS
PRESENTATION OF PROBLEM
During induction hardening of metal sheet forming tools, the induction coils must be guided very accurately and with perfectly constant speed. Since this process might take several hours, this task is usually undertaken by a robot. However, setting up the robot often takes much longer than the actual hardening process.
Using a contact shoe with a force sensor, the hardening specialist can set up the robot, specify process parameters and intervene during the hardening process if corrections are needed. The time-consuming and exhausting guiding of the hardening tool, however, is done by the robot. In this way, it is possible to reduce the required time for the hardening of metal sheet forming tools from several days to less than one day.