DrapeBot Deliverable D6.1: "Initial report on DrapeCell demonstrator"

The DrapeBot project started with an initial analysis and definition of the requirements and use cases. Then the complexity of the venture has been broken down into manageable components that have been developed independently while keeping the necessary interfaces in mind. The details of these components, the current state of development and the possibilities for further improvements have been already reported in the corresponding deliverables. In the next step, the individual components must be integrated to a functional whole and put into use according to the different use cases. For this purpose, two different Demonstrators, the Technologieerprobungszelle (TEZ) and the DrapeCell, will be used throughout the DrapeBot project. This document is focused on the DrapeCell, which eventually will be used for the automotive use case at Dallara and the maritime use case at Baltico. However, in a first step, an initial generic version of this demonstrator has been setup at Profactor. It includes the necessary mechanical, electrical and IT modules as well as 'conventional' safety systems. The deliverable describes the robotic set up of the DrapeCell in general and the integration of the DrapeBot components like the gripper system, the low-level control structures and the human perception system. Insights from the integration activities are being reported and an outlook which development steps or improvements are still needed is provided.