Deparaffinization

Robust automation solution developed

Within the RoBioTool project together with NTC Heidelberg and Karlsruhe Institute of Technology (KIT) advanced robot applications are developed using standard and cost-efficient hardware. By using the ARTIMINDS RPS the developed skills can be easily modified and applied to similar tasks. To enable usage by lab employees, optionally a further simplified user-interface "ArtiMinds RPS - APP" will be made available (not shown in the video).

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Highly precise movements and robust part-detection, whilst dealing with process-variances as part tolerances make adaptive programming with force-feedback a must to solve this application. The original tools as currently used by humans are used in combination with an application specific rapid-prototyped gripper. First step is picking up the plates (only 2mm thick) which are densely packed one-by-one whilst identifying the via force-measurement. Afterwards the plates are placed into a small box using a spiral-search to cope with tolerances. The filled box is deparaffinized.

Specific task challenges:
  • Rotation around virtual axle with changes in force-direction
  • Small spaces in between parts
  • Dimensions of grey box vary (production tolerances)
  • Poses of the varying parts vary (blue box)
  • Insertion without side-forces

Key advantage of using ArtiMinds RPS instead of a classical automation via a hand-written script in combination with a teach-panel, is the quick modification of the solution to similar tasks (e.g., different part amounts, different placing, different part dimensions). As such programming via the classical approach is possible, but would be only usable in a very limited way.

ArtiMinds RPS Classic solution
Programming time: 83h 350h (senior expert)
Lines of code 7 different wizard modules ca. 3,500 lines UR script code
Programming cost (120 EUR/h) 9.960 EUR 42.000 EUR

The task was programmed using ArtiMinds RPS 7 different wizards only, allowing for intuitive teach-in of the entire process.

Wizards used:
  • Move linear - Move on a relative, linear Cartesian path
  • Move Linear Relative
  • Move Linear Relative Contact - Move on a relative, linear Cartesian path until a minium force in Z is measured
  • Sequence Loop
  • Spiral Search With Contact - controller performing a spiral motion until object slips into a hole
  • Insert Minimum Depth Contact