Simulations

Right from the start, during the conception phase of a project, we simulate kinematics, reachability and cycle time to define driving parameters and constrains for the overall system design. The simulation environment also acts as a testbed for software development until the actual hardware becomes available. Developing and verifying the code early on saves valuable time during commissioning of the system later.
Besides our CAD software SolidEdge, we use Adept ACE for robotic simulations.

Robot Programming

We commission turnkey systems or contribute any subset of work packages for joint projects.
Our core competence is the development of motion control code for a variety of kinematics on different platforms (including Omron Adept, Stäubli, Beckhoff,...). Depending on the application, the software contains additional modules: typically, a number of sensors and actuators need to be connected through bus systems. 2D and 3D vision systems are used to determine the location of work pieces. In addition to these tasks, we optimise the servo control parameters for robots and drives in order to reduce cycle time and increase durability.
Our graphical user interfaces usually include product databases and implement interfaces to the customers IT infrastructure.
We will find a suitable solution for every task in our wide repertoire or we will tailor a bespoke system for you. In addition to that, we also take on support and optimisation of existing robot systems from other vendors.

Absolute Precision

Many applications require the calibration of the robots and mechanisms to guarantee the consistency of CAD- and machine coordinates, which is essential for synchronised robots.
We measure and calibrate robotic systems using Leica Laser Tracker or other appropriate vision systems.
During setup of the robots and the machine components the kinematic model gets refined and aligned step by step with real measured data. For accurate positioning of the robots the values of the refined kinematic model are used by the controller software, e.g. DH parameters, compensation of gravity and further nonlinear coefficients.

Mathematical Algorithms

All phases of our projects are supported by mathematical algorithms, calculations and analysis. The kinematic simulation and the transformation of CAD data into robot coordinates are the basis for path-planning. Values of sensors and vision systems are processed in real time by the robot control system to allow quality management as well as compensation of disturbances. At series start-up and at ongoing production we use mathematical methods to derive statistical informations about the processes from realtime data. This helps to identify the root cause of concealed problems like hidden material defects or building vibrations.
To develop our mathematical solutions we mainly use Mathematica by Wolfram Research. For the implementation of real-time measurements we use our internally developed software libraries as well as purchased software.

Realtime Systems

Application-specific sensors, e.g. those which are integrated into the robot tool, need to be extremely compact und often require real-time preprocessing of raw data, as well as a noise-resistant digital interface. For this purpose, we have developed an EtherCAT Master on an RT-Linux system and EtherCAT Slave modules based on FPGA technology. This enables Sensors, servo amplifiers and absolute encoders to communicate with the main controller at a rate of 8 kHz over a distance of 50m.
We typically use 8 oder 32 bit Atmes processors for the PCBs we design in-house. Larger autonomous systems based on intel processors mostly run RT-Linux or VxWorks.

FPGA

FPGAs are particularly well-suited for applications requiring deterministic real-time behavior combined with high performance. Small footprint, parallel data processing and low latency are the key advantages we put to work to fulfill special requirements of our customers. For demanding applications in signal processing and data transmission, we design PCBs using Xilinx ICs and sophisticated interface logic. Correct functionality of our FPGA code is successively verified by Vivado and other software tools.