The work progress of the experiment is according to the work plan without any significant delays. The setup of the test arrangement (Task 5) is currently under construction. Therefore the passive arms are mounted at the clamping table and connected pneumatically and electrically. The layout and the gripper fingers are designed for the handling of 3D tubes.

The force-torque sensor is mounted to the robot together with the clamping device for the self-reconfiguration of the passive arms and also with some additional handling grippers. The sensor for the real-time manipulation of the robot path during reconfiguration was successfully installed and tested. For this testing the robot could be controlled with the sensor by using it as a manual guiding device.

The weights and centres of mass of all articulated components were determined and stored in a MATLAB routine to eliminate undesired mass effects of the sensor values. The next step will be the testing of the first simple reconfiguration procedure. Therefore the sensor guided reconfiguration algorithm will be implemented. The next report will present results and pictures of the first reconfiguration procedure.