mobile robotics - iwl · _kuka mobile robotics kmp -kuka mobile platforms kmr -kuka mobile robots...

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mobile_robotics

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Page: 2Product Presentation Mobile Robotics | IBD – Team Mobile Robotics| 03.2016| www.kuka.com

_aktuelle Automatisierung mit Robotern Roboterdichte / 10.000 Beschäftigte

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1584

11761107

622

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7227 10 4 ~0

Japan Germany USA UK China Brasil India

Automotive

General Industry

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_neue Herausforderungen in der Produktion

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Globalisierung

Veränderungen des Konsumentenverhaltens

Erhöhung der Produktvielfalt

� Trend weg von Massenproduktion hin zur individuellen Produktion (bis Losgröße 1)

Heutige Automatisierungslösungen sind darauf (noch) nicht abgestimmtÄnderungen des Produkts oder der Stückzahlen führt zu hohem Aufwand

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_neue Herausforderungen in der Produktion

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_vollautomation _manuelle Fertigung

Niedrige pro-Stück-Kosten

Unflexibel bei Änderungen

Sehr flexibel bei Änderungen

Teuer, speziell in Hochlohnländern

VS

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_herausforderungen in der Produktion

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_problematik der Vollautomatisierung− Hohes Investitionsvolumen− Hoher Platzbedarf− Änderungen des Workflow führt zu hohem Aufwand− Auch für mittlere und kleine Firmen notwendig− Kostendruck− Fachkräftemangel

_trends der Automation− Modulare, skalierbare Lösungen, flexibel an Workflowänderungen anpassbar

− Teilautomatisierung von ständig sich wiederholenden Prozessen/Aufgaben

− Automatisierung von Hol- und Bringaufgaben

Nur für große Firmen Umsetzbar!

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_ziel: Das Beste aus beiden Fertigungswelten verbinden

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_station 1 _station 2

_station 3 _station 3

Voraussetzungen- MRK (Mensch-Maschine-Kollaboration)-fähiger Roboter- Automatisierung mit hoher Flexibilität durch den Einsatz mobiler Lösungen

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Page: 7Insert presentation title | Insert name | Insert date | www.kuka.com

_KUKA Mobile Robotics Product Overview

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_KUKA Mobile Robotics

KMP - KUKA Mobile Platforms KMR - KUKA Mobile Robots

Payload

< 400kg 1,5t > 3t

KMP 400(field test)

KMP omniMove(available, projectbased)

KMP 1500(in development)

Robot type

LBR iiwa Quantec

KMR iiwa(field test)

KMR Quantec(available, projectbased)

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_KUKA omniMovedrive technology

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omniWheel basics

� The omniWheel consists of 2 rim disks and up to 9 rollers

� 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

45°

[1]

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omniMove®– unlimited maneuverability

Moving Straight Ahead

All wheels move at the same speed and 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.

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.

Rotation

The two sides move at the same speed in opposite directions.

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Video 01

KUKA_MobilePlatforms_DriveConcept_wl

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Space saving technology…

� Reduction of logistics space (= more production space)

� No special tillage necessary (standard cement)

� No floor abrasion

� Highest positional accuracy up to +/- 1 mm

steered conventionally omniMove®

� Reduction of manoeuvring space, in this case up to 50% � Reduction of manoeuvring space, in this case up to 60%

Space for turning circle

tricycle principle principleomniMove®

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… with more flexibility

With a conventional drive, the production need to adapt to the car.

omniMove® knows far less movement limits than conventional drives

With KUKA omniMove® products, the vehicles fit seamlessly into the production.

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Flexible turning point (yellow point) with omniMove technology

3 wheel – Conventional

Only one turning point possiblethis is fixed in the middle ofthe rear axle.

3-Rad - differential

center of rotation can variablybetween the center of the rightwheel and the center of the leftwheel on the rear axle.Adaptation by the direction ofrotation and speed of theindividual wheels.

omniMove®

The center of rotation is freelyconfigurable, it can be anywhere,whether at the car or at a pointin the arounded space. Youdetermine where it is located.Normally the center of rotationis at the center of the vehicle(yellow point).

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_KUKA.NavigationSolutionclevere Autonomie für mobile Roboter

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Navigationsmöglichkeiten

Au t o n om i t ä t

2

1

3

4

21 3

4

KUKA Mobile Platform

KUKA Mobile Robot

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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

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Video 02

KUKA_NavigationSolution

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Object detection and tracking

� Cognition of arbitrary objects

based on laser scanner data and CAD model

� Object detection and tracking

� Laser-based detection of any objects

� Relative positioning to objects

� High positioning accuracy

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_KUKA Mobile Platform 400

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KMP omniMove safety features[+] Led-sound buzzer

2 x Laser scanner

8 x Ultrasound sensor [+] 2 x Emergency Stop

[+] RGB Led band

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KMP omniMove safety features

[+] Protective safety fields Warning fields

[+] Obstacle detection using ultrasound sensors

[+] Visual signal

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_KUKA Mobile Robot iiwaEntdecken Sie neue Horizonte flexibler

Automatisierungslösungen

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Components of KMR iiwa

KUKA omniMove Wheel

Mecanum Wheel with KR Agilus motor

KUKA HBC

Wireless Joystick

KUKA safety sensors

SICK Laser scanner &Ultrasonic sensors

KUKA.NavigationSolution

Integrated Nav-Box PC for autonomous navigation

KUKA Sunrise.Workbench

for configuration and wireless programming

KUKA Sunrise Cabinet Extended

All driven by one controller

KUKA Li-Ion power control

For 8 hours battery autonomy

KMP omniMove 175

New mobile Platform

KUKA LBR iiwa robot arm

In two payload variants: 7 and 14 kg

KUKA Sunrise.OS

Controller operationg system based on JAVA

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KMR iiwa functions

Autonomous navigation: KMR iiwa moves autonomously without risk of collision- Safe laser scanner for environment monitoring

- KUKA Navigation Solution offers a trajectory path planner for collision-free path planning

Maximum flexibility and unrestricted maneuverability- Omnidirectional mobile platform for limitless adaptability

- Null space motion for the robot arm to reach any position in workspace

- Cost-effectiveness in logistics management

± 1 mm

Utmost precision and simple operator control

- Fine localization feature in the navigation software

- Omnidirectional wheel technology enables “KMR iiwa” to maneuver safely to the desired position in confined spaces

HRC able - Safe work between human and robots- Integrated joint torque sensors in safe technology

- Safety-oriented position sensors

- Freely configurable safety controller for application risk assessment

Freely scalable modular system- Position and number of installed robots is variable

- Extend the mobile platform with application layer for external computer, all necessary hardware to fulfill application requirements

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Video 07

R 501 - Autonomous transportation with mobile robot KMR iiwa_1080p

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