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Ball catching with a redundant industrial robot

For exhibition purposes, the demonstrator needs to be able to catch balls which are thrown into its workspace by the audience. In our approach the demonstrator's manipulator is composed of a six-axes industrial robot, mounted onto a rapidly moving linear axis, resulting in a redundant robotic system. To track the thrown ball, a highly sophisticated and also actuated vision system is used. From a mechatronical (and also industrial) perspective, various interesting challenges arise in the process of modeling and control of the overall system.