Using a Beckhoff-PLC to control a 4-axis IGUS-robot using the new kinematic transformation libraries.
The goal is constructing a demo pick-and-place system for IGUS to be used at demofairs. Keep in mind that this a schoolproject that has to be finished by the end of june so the demo is no fully functional yet. For now the robot can pick up one item and place it in a holder. The full system will be able to pick up four items of different colours and place it in four different holders.