The Interfacing Toolbox for Robotic Arms (ITRA) links industrial manipulators, sensors, and actuators to execute EV battery disassembly tasks with hybrid visual servoing. The Batteries journal article showcases deployments on both KUKA KR10 and KR500 platforms.
Highlights
- A modular communication stack bridges low-level controllers with high-level perception, enabling real-time tracking and force-aware manipulation.
- Hybrid visual servoing blends eye-in-hand and eye-to-hand sensing for robustness to occlusions and component variability.
- Demonstrated rapid removal of top casings (27 s) and module stacks (32 s) in T1 safety mode, proving suitability for production lines.
Broader Impact
- ITRA generalises beyond EV recycling to sectors that demand precise, adaptable manipulation—medical robotics, construction, and extreme environments included.
- The open architecture simplifies integrating new sensors or autonomy modules without rewriting device drivers.