HomeInfrastructuresRobotics and Embedded Systems | TERRINet

The structure

The Technical University of Munich Competence Center (TUM CC) will be part of the Chair of Robotics and Embedded Systems Group, Department of Informatics. The TUM CC consists of over 400 sqm of indoor space, which can be used for experimental testing of human-robot interaction and cooperative manufacturing (main area of focus of the Center), for operation of mobile (including aerial) robots, and test of automotive systems. The main part of the infrastructure offered by TUM CC is a collaborative, human-robot manufacturing environment. The setup consists of several robotic arms (Staubli TX70 and TX90, ABB IRB 120, KUKA LRB iiwa), end-effectors (including human-robot interaction safe KUKA R800 gripper), mobile robotic platforms (Robotino) and an experimental setup corresponding to a collaborative manufacturing cell, equipped with a tactile SAPARO floor.
The modular manufacturing system can be easily configured to implement a range of manufacturing and robot manipulation scenarios involving both industrial robots and human operators. The installation is particularly useful for research on human-robot cooperation, multi-robot object manipulation, human tracking and detection for ensuring safety, etc. It provides unique opportunities to perform research in manipulative and collaborative robotics with bleeding edge robotic sensors, and a number of different manipulators, including human-safe ones.

Moreover factory cell mock-up enables the users to simulate the environment. As such, it is attractive not only to the research community, but also to the industry (especially in the SME segment), for which innovative robotic solutions that are both flexible and safe for humans are of high relevance. The second major installation featured within the TUM CC, which is still being currently integrated, is a fully automated car testbed. The installation consists of a Roding Roadster Electric car, with its axes directly connected to external motors. By controlling both the externally applied torque and the car motor, it is possible to simulate behavior of the car in various, specifically designed conditions. Moreover, the testbed is equipped with an augmented reality module that allows its users to control the car in life-like scenarios, testing human responses to artificially generated road conditions. This testbed provides unique possibilities for research at different levels of abstraction, ranging from research and development on lower-level controllers of car components (e.g. traction control systems), up to monitoring driving control of the entire vehicle, and analysis of the human driver’s behavior in a highly-controllable, repeatable way. The system will be particularly attractive to researchers of an academic and industrial background, working in fields related to motor control, autonomous driving, and drowsiness detection.

Technologies

Services we offer:

  • Evaluation of new technologies: experimenting, proof of concept and testing
  • Demonstration and experience of robotics in manufacturing
  • Technological expertise and consulting
  • Assistance to technology transfer in the field of robotics
  • Knowledge exchange in workshops about robotics in manufacturing
  • Advice on IPR management, ethical, legal and societal issues in robotics
Available platforms
https://www.terrinet.eu/wp-content/uploads/2018/05/Microsurgical-Robot_TUM.jpg

Microsurgical Robot

Microsurgical platform is a setup that is originally designed and developed for ophthalmic application but it can be also used for other medical and biological procedures. It could be also used as a training platform for micro-robotic applications. Multidiciplinary team of researchers including engineers; biologists and clinicians can perform their micromanipulation tasks using the platform. Integration of imaging devices and microscopes to the setup enables performing interdiciplinary projects such as image guided micromanipilation.

Key features

  • Light weight: 315g
  • High Precision Motion: 10um
  • Open-access Software Platform
  • Haptic Interface
  • Multimodal Communication
  • Microscopy

Possible application

  • Micromanipulation
  • Micromotion Trajectory Planning
  • Image Guided Micromanipulation
https://www.terrinet.eu/wp-content/uploads/2018/05/Cooperative-robotic-manufacturing-station_TUM.jpg

Cooperative Robotic Manufacturing Station

The setup consists of several robotic arms (Staubli TX0 and TX90, 4X ABB IRB 120, KUKA LRB iiwa), end effectors (including human-robot interaction safe R800 gripper) and a mock-up of a collaborative manufacturing cell equipped with a tactile SAPARO floor. The environment can be easily configured to represent different variations of the manufacturing and robot manipulation scenarios involving both industrial robots and human operators. This installation is particularly useful for research on human-robot cooperation, multi-robot object manipulation, human tracking and detection for ensuring safety, etc. It provides unique opportunities to perform research in manipulative and collaborative robotics with bleeding edge robotic sensors (e.g. the SAPARO floor), and several different manipulators, including the human-safe ones (e.g. KUKA iiwa). As such, it is attractive not only for the research community but also for the industry (especially in the SME segment) which require innovative robotic solutions that are both flexible and safe for humans.

Key features

  • Staubli TX0 and TX90 (details can be found here)
  • 4 x ABB IRB 120 (details can be found here)
  • KUKA LRB iiwa (details can be found here)
  • KUKA R800 HRI safe gripper (details can be found here)
  • SAPARO floor (details can be found here)
  • Kinect RGB-D camera
  • Hokuyo UTM-30LX-EW laser rangefinder (details can be found here)
  • Optical sensors available for tryout including the whole Intel Realsense family (ZR300, R100, SR300) (details can be found in here)

Possible application

  • Human-robot cooperation
  • Multi-robot object manipulation
  • Human tracking and detection for ensuring safety
https://www.terrinet.eu/wp-content/uploads/2018/05/Electric-Car-Testbed_TUM.jpg

Electric Car Testbed

The electric car testbed consists of four controlled drives directly connected to the axes of a Roading Roadster Electric car. Both the car drive and other components, as well as the external torque applied to the axes, can be controlled, while the complete state of the car sensors is registered. The station can be used to simulate desired driving conditions and evaluate the performance of wheel drive control algorithms in fully-controlled, reproducible environment. Moreover, the station contains an augmented reality system, which can be used to control the car in a life-like way and allow safe testing of autonomous driving solutions.

Key features

  • Engine test bench, for testing drive components and powertrain systems
  • Vehicle test bench, for testing dynamic driving behavior with real environmental conditions by means of driving simulation
  • Power electronics: Sinamics S120-CM
  • Power electronics: 4 inverter modules from common DC link 260kW feed/recovery power
  • Regulations: speed control / torque control / driving load simulation

Possible application

  • Different levels of abstraction, from the low-level controllers of the car components (e.g. slipping control systems), up to monitoring driving control of the entire vehicle
  • Analysis of the human driver behavior in a highly-controllable, repeatable way