MSI – Real-time motion control for highly dynamic gripping systems

The Motion Stream Interface (MSI) is an optional high-performance technology package for the WPG series from Weiss Robotics. It expands the gripper with a UDP-based real-time streaming interface that allows external controllers to feed movements directly and deterministically into the internal position and force control loops.

Instead of predefined motion commands, MSI follows a stream-oriented approach: externally generated base points are continuously transmitted and internally interpolated to a fixed 1 ms control grid. Interpolation buffering of up to 500 ms and continuous feedback on position, speed, force, status, and buffer status enable stable and controlled real-time integration into higher-level control systems.

Adaptive Impedance Control for Precise Force Interaction

Thanks to its direct connection to the position and force control loops, MSI is ideal for implementing impedance controllers. External controllers can specify desired dynamic behavior models—such as spring-damper characteristics—in real time, thereby implementing precisely coordinated interaction behavior. This enables the implementation of force-adaptive, compliant, and at the same time highly dynamic motion profiles, as required in sensitive assembly processes or in contact-based handling.

 

Intuitive Teleoperation with Direct Feedback

MSI also forms the basis for demanding teleoperation applications. The continuous streaming of motion and force specifications, as well as real-time feedback from the gripper, creates a direct, low-latency link between the operator and the system. This enables intuitive remote control scenarios as well as the integration of AI-based or sensor-driven control approaches in research and high-end industrial applications.

 

 

Areas of application with measurable performance gains

  • Adaptive gripping with varying component positions and tolerances
  • Force-controlled joining and assembly processes
  • Highly dynamic pick-and-place applications
  • Synchronized movements with conveyor technology
  • Human-robot collaboration with sensitive response
  • Teleoperation and live robot control
  • AI-based trajectory optimization in real time
  • Research and development applications with high control depth