PRIMA

PriMa - Precise Manipulation

The Orion 7P hydraulic deep-sea manipulator with its gripper open Quelle: Schilling Robotics
The Orion 7P used in the PRIMA project.
Scientific Leader:
Prof. Dr. Dr. h.c. Frank Kirchner (DFKI)
 
Project leader:
M.Sc. Ajish Babu
 
Contact person:
robotik(at)dfki.de

Filedownloads

Project Flyer English
Project Flyer German

In the project, the intelligent control of an underwater manipulator arm will be demonstrated.

Duration: 01.05.2015 till 31.03.2016
Performing institution: German Research Center for Artificial Intelligence GmbH
Partner: Robert Bosch GmbH
Application Field: Space Robotics
Underwater Robotics
Related Projects: Inveritas
Innovatice technologies for relative navigation and capture (05.2009- 03.2012)
Lunares
Reconfigurable Robots for Extraterrestrial Exploration (07.2007- 12.2009)
RIMRES
Reconfigurable Integrated Multi Robot Exploration System (09.2009- 12.2012)
TransTerrA
Semi-autonomous cooperative exploration of planetary surfaces including the installation of a logistic chain as well as consideration of the terrestrial applicability of individual aspects (05.2013- 12.2017)
ROBEX
Robotic Exploration of Extreme Environments (10.2012- 09.2017)
SeeGrip
Autonomous underwater gripper with tactile feedback for form- and force closed object manipulation. (09.2009- 03.2013)
CManipulator
An Autonomous Dual Manipulator for Deep-Sea Inspection and Maintenance (09.2006- 09.2009)
Related Robots: Orion
Schilling Orion 7P

Funding

Funding note
This project is funded by the Space Agency of the German Aerospace Center with federal funds of the Federal Ministry of Economics and Energy (BMWi) in accordance with the parliamentary resolution of the German Parliament, grant no. 50RP1506

Project details

With the help of a control device developed for mobile working machines the operator will be enabled to define the desired position of the manipulator’s end effector in Cartesian space. The manipulator control will calculate the corresponding joint angles and move the end effector to the desired location. Arising position changes at the base (simulated movement of the underwater vehicle by e.g. water flow) are compensated automatically to keep the gripper to the predefined position in space. Overall, technologies in the fields of aerospace and mobile machines are transferred to the subsea sector.

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