Rozprawy doktorskie na temat „Robots, Industrial”
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Igelmo, Victor. "Using a general robot programming system to control an industrial robot". Thesis, Högskolan i Skövde, Institutionen för ingenjörsvetenskap, 2018. http://urn.kb.se/resolve?urn=urn:nbn:se:his:diva-15722.
Pełny tekst źródłaSilva, Jorge Vicente Lopes da. "Otimização na geração automatica de modelos dinamicos para o controle e a estimação de parametros de robos". [s.n.], 1990. http://repositorio.unicamp.br/jspui/handle/REPOSIP/258922.
Pełny tekst źródłaDissertação (mestrado) - Universidade Estadual de Campinas, Faculdade de Engenharia Eletrica
Made available in DSpace on 2018-07-13T23:45:43Z (GMT). No. of bitstreams: 1 Silva_JorgeVicenteLopesda_M.pdf: 6182719 bytes, checksum: e4b7bfe60d4781e5ea10c6ce2172417d (MD5) Previous issue date: 1990
Resumo: Este trabalho apresenta contribuições no sentido de agilizar e otimizar a modelagem geométrica e dinâmica de robôs. A finalidade principal na utilização destes modelos é o desenvolvimento de estratégias de controle mais eficientes, que consigam compensar efeitos indesejáveis, quando é exigido um desempenho superior dos robôs. Estes modelos são de grande complexidade e sua obtenção manual, além de demorada, é extremamente árida e bastante sujeita a erros. Por este motivo, implementamos um sistema para a geração automática de modelos geométricos e modelos dinâmicos com base no formalismo de Lagrange, utilizando recursos para otimização destes modelos. É proposto um algoritmo eficiente para modelagem dinâmica, o qual elimina automaticamente um grande número de redundâncias. Este algoritmo é apresentado à nível de implementação
Abstract: This work presents contributions aiming at time saving and model improvement in the generation of geometric and dynamic robot models. The main purpose is to enable the generation of models suited for use in the development of more efficient control strategies, 50 as to compensa te effects that become undesirable when a better robot performance is required. These are quite complex models and the manual derivation of them is tedious, costly (time-consuming) and often error-prone. 50, it was implemented a system for automatic generation of symbolic geometric and dynamic robot models based in the Lagrange formulation and that also cares about model optimization. It is also proposed an efficient algorithm for dynamic modelling, which automatically eliminates a great number of redundancies. This algorithm is presented in the implementation level
Mestrado
Automação
Mestre em Engenharia Elétrica
O'Hara, Keith Joseph. "Leveraging distribution and heterogeneity in robot systems architecture". Diss., Georgia Institute of Technology, 2011. http://hdl.handle.net/1853/42706.
Pełny tekst źródłaSorour, Mohamed. "Motion discontinuity-robust controller for steerable wheeled mobile robots". Thesis, Montpellier, 2017. http://www.theses.fr/2017MONTS090/document.
Pełny tekst źródłaSteerable wheeled mobile robots gain mobility by employing fully steerable conventional wheels, having two active joints, one for steering, and another for driving. Despite having only one degree of mobility (DOM) (defined here as the instantaneously accessible degrees of freedom DOF), corresponding to the rotation about the instantaneous center of rotation (ICR), such robots can perform complex $2D$ planar trajectories. They are cheaper and have higher load carrying capacity than non-conventional wheels (e.g., Sweedish or Omni-directional), and as such preferred for industrial applications. However, this type of mobile robot structure presents challenging textit{basic} control issues of steering coordination to avoid actuator fighting, avoiding kinematic (ICR at the steering joint axis) and representation (from the mathematical model) singularities. In addition to solving the textit{basic} control problems, this thesis also focuses attention and presents solutions to textit{application level} problems. Specifically we deal with two problems: the first is the necessity to "discontinuously" reconfigure the steer joints, once discontinuity in the robot trajectory occurs. Such situation - discontinuity in robot motion - is more likely to happen nowadays, in the emerging field of human-robot collaboration. Mobile robots working in the vicinity of fast moving human workers, will usually encounter discontinuity in the online computed trajectory. The second appears in applications requiring that some heading angle is to be maintained, some object or feature stays in the field of view (e.g., for vision-based tasks), or the translation verse changes. Then, the ICR point is required to move long distances from one extreme of the workspace to the other, usually passing by the robot geometric center, where the feasible robot velocity is limited. In these application scenarios, the state-of-art ICR based controllers will lead to unsatisfactory behavior/results. In this thesis, we solve the aforementioned application level problems; namely discontinuity in robot velocity commands, and better/efficient planning for ICR point motion control while respecting the maximum steer joint performance limits, and avoiding kinematic and representational singularities. Our findings has been validated experimentally on an industrial mobile base
Tang, Stanley C. "Robot positioning error analysis and correction". Thesis, This resource online, 1987. http://scholar.lib.vt.edu/theses/available/etd-04122010-083623/.
Pełny tekst źródłaRemy, Sekou. "How to teach a new robot new tricks an interactive learning framework applied to service robotics /". Diss., Atlanta, Ga. : Georgia Institute of Technology, 2009. http://hdl.handle.net/1853/31678.
Pełny tekst źródłaCommittee Chair: Dr. Ayanna M. Howard; Committee Member: Dr. Charles Kemp; Committee Member: Dr. Magnus Egerstedt; Committee Member: Dr. Patricio Vela. Part of the SMARTech Electronic Thesis and Dissertation Collection.
Habibi, Saeid Reza. "Multivariable control of industrial robots". Thesis, University of Cambridge, 1990. http://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.358353.
Pełny tekst źródłaWilliams, S. J. "Multivariable controllers for industrial robots". Thesis, University of Cambridge, 1985. http://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.482968.
Pełny tekst źródłaMichaud, Christian 1958. "Multi-robot workcell with vision for integrated circuit assembly". Thesis, McGill University, 1986. http://digitool.Library.McGill.CA:80/R/?func=dbin-jump-full&object_id=65433.
Pełny tekst źródłaKlepko, Robert. "A rule-based hierarchical robot control system /". Thesis, McGill University, 1986. http://digitool.Library.McGill.CA:80/R/?func=dbin-jump-full&object_id=66195.
Pełny tekst źródłaDeray, Jérémie. "Robust navigation for industrial service robots". Doctoral thesis, TDX (Tesis Doctorals en Xarxa), 2020. http://hdl.handle.net/10803/669875.
Pełny tekst źródłaLa navegación autónoma es uno de los problemas fundamentales de la robótica, y sus diferentes desafíos se han estudiado durante décadas. El desarrollo de métodos de navegación robusta, confiable y segura es un factor clave para la creación de funcionalidades de nivel superior en robots diseñados para operar en entornos con humanos. A lo largo de la presente tesis, abordamos el problema de navegación para bases robóticas móviles industriales; identificamos los elementos de un sistema de navegación; y analizamos y tratamos sus desafíos. El trabajo de investigación presentado aquí tiene como último objetivo mejorar la calidad general del sistema completo de navegación de una base móvil industrial disponible comercialmente. Para estudiar el problema de navegación, primero lo desglosamos en problemas menores claramente identificados. Examinamos el subproblema de mapeo del entorno y localización del robot simultáneamente (SLAM por sus siglas en ingles) y estudiamos el estado del arte del mismo. Al hacerlo, recordamos y detallamos la base matemática del problema de SLAM. Luego revisamos el subproblema de planificación de trayectorias hacia una meta deseada en la representación del entorno generada. Además, como una herramienta para las soluciones que se presentarán más adelante en el desarrollo de la tesis, investigamos y aclaramos el uso de teoría de Lie, centrándonos en el subconjunto de la teoría que es útil para la estimación de estados en robótica. Como primer elemento identificado para mejoras, abordamos el problema de reconocimiento de lugares para cerrar lazos en SLAM. El cierre de lazos se refiere a la capacidad de un robot para reconocer una ubicación visitada previamente e inferí información geométrica entre la ubicación actual del robot y aquellas reconocidas. Usando solo un sensor láser 2D, la tarea es desafiante ya que la percepción del entorno que proporciona el sensor es escasa y limitada. Abordamos el problema utilizando 'bolsas de palabras', una técnica prestada del campo de procesamiento del lenguaje natural (NLP) que se ha aplicado con éxito anteriormente al reconocimiento de lugares basado en imágenes. Nuestro método incluye dos nuevas propuestas inspiradas también en NLP. Primero, la comparación entre lugares candidatos se fortalece teniendo en cuenta el orden relativo natural de las características en cada lectura individual del sensor; y segundo, se establece un corpus de lugares visitados para promover juntos instancias que están "cerca" la una de la otra desde un punto de vista topológico. Evaluamos nuestras propuestas por separado y conjuntamente en varios conjuntos de datos, con y sin ruido, demostrando mejora en la detección de cierres de lazo para sensores láser 2D, con respecto al estado del arte. Luego abordamos el problema de la calibración del modelo de movimiento para la estimación de la edometría. Dado que nuestra base móvil incluye un sensor exteroceptivo capaz de observar el movimiento de la plataforma, proponemos una nueva formulación que permite estimar los parámetros intrínsecos del modelo cinemático de la plataforma durante el cómputo de la edometría del vehículo. Hemos recurrido a una adaptación de la teoría de reintegración inicialmente desarrollado para unidades inerciales de medida, y aplicado la técnica a nuestro modelo cinemático. El método nos permite, mediante optimización iterativa no lineal, la estimación del valor del radio de las ruedas de forma independiente y de la separación entre las mismas. El método se amplía posteriormente par idéntica de forma simultánea, estos parámetros intrínsecos junto con los parámetros extrínsecos que ubican el sensor láser con respecto al sistema de referencia de la base móvil. El método se valida en simulación y en un entorno real y se muestra que converge hacia los verdaderos valores de los parámetros. El método permite la adaptación de los parámetros intrínsecos del modelo cinemático de la plataforma derivados de cambios físicos durante la operación, tales como el impacto que el cambio de carga sobre la plataforma tiene sobre el diámetro de las ruedas. Como tercer subproblema de navegación, abordamos el reto de planificar trayectorias de movimiento de forma suave. Desarrollamos un método para planificar la trayectoria como una secuencia de configuraciones sobre una spline con n-ésimas derivadas en todos los puntos, independientemente del grupo de Lie considerado. Al ser formulado como un problema de optimización no lineal con múltiples objetivos, es posible agregar funciones de coste al problema de optimización que permitan añadir límites de velocidad o aceleración, evasión de colisiones, etc. El método propuesto es evaluado en dos tareas de planificación de movimiento diferentes, la planificación de trayectorias para una base móvil que evoluciona en la variedad SE(2), y la planificación del movimiento de un brazo robótico cuyo efector final evoluciona en la variedad SE(3). Además, cada tarea se evalúa en escenarios con complejidad de forma incremental, y se muestra un rendimiento comparable o mejor que el estado del arte mientras produce resultados más consistentes. Desde nuestro estudio de la teoría de Lie, desarrollamos una nueva biblioteca de programación llamada “manif”. La biblioteca es de código abierto, está disponible públicamente y se desarrolla siguiendo las buenas prácticas de programación de software. Esta diseñado para que sea fácil de integrar y manipular, y permite flexibilidad de uso mientras se facilita la posibilidad de extenderla más allá de los grupos de Lie inicialmente implementados. Además, la biblioteca se muestra eficiente en comparación con otras soluciones existentes. Por fin, llegamos a la conclusión del estudio de doctorado. Examinamos el trabajo de investigación y trazamos líneas para futuras investigaciones. También echamos un vistazo en los últimos años y compartimos una visión personal y experiencia del desarrollo de un doctorado industrial.
Reme, Fredrik. "Advanced Remote Control of Industrial Robots". Thesis, Norges Teknisk-Naturvitenskaplige Universitet, 2012. http://urn.kb.se/resolve?urn=urn:nbn:no:ntnu:diva-21086.
Pełny tekst źródłaKohrt, Christian. "Enhanced online programming for industrial robots". Thesis, University of the West of England, Bristol, 2013. http://eprints.uwe.ac.uk/20818/.
Pełny tekst źródłaNezhadali, Vaheed. "Multi-objective optimization of Industrial robots". Thesis, Linköpings universitet, Maskinkonstruktion, 2011. http://urn.kb.se/resolve?urn=urn:nbn:se:liu:diva-113283.
Pełny tekst źródłaLöfvendahl, Björn. "Augmented Reality Applications for Industrial Robots". Thesis, Umeå universitet, Institutionen för tillämpad fysik och elektronik, 2014. http://urn.kb.se/resolve?urn=urn:nbn:se:umu:diva-87146.
Pełny tekst źródłaSharif, Z. A. B. M. "Modelling and control of industrial robots". Thesis, City University London, 1985. http://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.356002.
Pełny tekst źródłaReay, Donald S. "Variable structure control of industrial robots". Thesis, University of Cambridge, 1988. http://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.257514.
Pełny tekst źródłaMullinax, Chris D. "Machining with robots : a study of the robot's compliance on machining stability". Thesis, Georgia Institute of Technology, 1987. http://hdl.handle.net/1853/17136.
Pełny tekst źródłaJoonatan, Mänttäri. "Evaluation of Intuitive VR-based HRI for Simulated Industrial Robots". Thesis, Mälardalens högskola, Akademin för innovation, design och teknik, 2014. http://urn.kb.se/resolve?urn=urn:nbn:se:mdh:diva-24880.
Pełny tekst źródłaAkan, Batu. "Human Robot Interaction Solutions for Intuitive Industrial Robot Programming". Licentiate thesis, Mälardalens högskola, Akademin för innovation, design och teknik, 2012. http://urn.kb.se/resolve?urn=urn:nbn:se:mdh:diva-14315.
Pełny tekst źródłarobot colleague project
Lloyd, John 1958. "Implementation of a robot control development environment". Thesis, McGill University, 1985. http://digitool.Library.McGill.CA:80/R/?func=dbin-jump-full&object_id=65343.
Pełny tekst źródłaKossman, Don. "A multi-microprocessor-based control environment for industrial robots /". Thesis, McGill University, 1986. http://digitool.Library.McGill.CA:80/R/?func=dbin-jump-full&object_id=65335.
Pełny tekst źródłaTsai, Ming-June. "Workspace geometric characterization and manipulability of industrial robots". Connect to resource, 1986. http://rave.ohiolink.edu/etdc/view.cgi?acc%5Fnum=osu1260297835.
Pełny tekst źródłaGaluga, Marta Anna Maria. "Investigation of cell mapping and off-line programming within a flexible assembly system /". Online version of thesis, 1991. http://hdl.handle.net/1850/11004.
Pełny tekst źródłaLindqvist, Björn. "Multi-axis industrial robot braking distance measurements : For risk assessments with virtual safety zones on industrial robots". Thesis, Högskolan Väst, Avdelningen för produktionssystem (PS), 2017. http://urn.kb.se/resolve?urn=urn:nbn:se:hv:diva-11447.
Pełny tekst źródłaWernholt, Erik. "Multivariable Frequency-Domain Identification of Industrial Robots". Doctoral thesis, Linköping : Department of Electrical Engineering, Linköping University, 2007. http://urn.kb.se/resolve?urn=urn:nbn:se:liu:diva-10149.
Pełny tekst źródłaPouech, Jérémy. "Failure Detection and Classification for Industrial Robots". Thesis, KTH, Skolan för datavetenskap och kommunikation (CSC), 2015. http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-165313.
Pełny tekst źródłaAngerer, Stefanie. "Skill-based reconfiguration of industrial mobile robots". Thesis, Heriot-Watt University, 2012. http://hdl.handle.net/10399/2552.
Pełny tekst źródłaTosello, Elisa. "Cognitive Task Planning for Smart Industrial Robots". Doctoral thesis, Università degli studi di Padova, 2016. http://hdl.handle.net/11577/3421918.
Pełny tekst źródłaQuesta ricerca presenta una nuova struttura di Pianificazione Cognitiva delle Attività ideata per Robot Industriali Intelligenti. La struttura rende Cognitivo un manipolatore industriale mobile applicando le tecnologie offerte dal Web Semantico. Viene inoltre introdotto un nuovo algoritmo di Navigazione tra Oggetti Removibili per robot che navigano e manipolano all’interno di una fabbrica. L’obiettivo di Industria 4.0 è quello di creare Fabbriche Intelligenti: fabbriche modulari dotate di sistemi cyber-fisici in grado di customizzare i prodotti pur mantenendo una produzione di massa altamente flessibile. Tali sistemi devono essere in grado di comunicare e cooperare tra loro e con gli agenti umani in tempo reale, attraverso l’Internet delle Cose. Devono sapersi autonomamente ed intelligentemente adattare ai costanti cambiamenti dell’ambiente che li circonda. Devono saper navigare autonomamente all’interno della fabbrica, anche spostando ostacoli che occludono percorsi liberi, ed essere in grado di manipolare questi oggetti anche se visti per la prima volta. Devono essere in grado di imparare dalle loro azioni e da quelle eseguite da altri agenti. La maggior parte dei robot industriali mobili naviga secondo traiettorie generate a priori. Seguono filielettrificatiincorporatinelterrenoolineedipintesulpavimento. Pianificareapriorièfunzionale se l’ambiente è immutevole e i cicli produttivi sono caratterizzati da criticità temporali. E’ preferibile adottare una pianificazione dinamica se, invece, l’area di lavoro ed i compiti assegnati cambiano frequentemente: i robot devono saper navigare autonomamente senza tener conto dei cambiamenti circostanti. Si consideri il comportamento umano: l’uomo ragiona sulla possibilità di spostare ostacolise unaposizione obiettivo nonè raggiungibileose talespostamento puòaccorciare la traiettoria da percorrere. Questo problema viene detto Navigazione tra Oggetti Removibili ed è noto alla robotica di soccorso. Questo lavoro traspone il problema in uno scenario industriale e prova ad affrontare i suoi due obiettivi principali: l’elevata dimensione dello spazio di ricerca ed il trattamento dell’incertezza. L’algoritmo proposto vuole dare priorità di esplorazione alle aree meno esplorate, per questo estende l’algoritmo noto come Kinodynamic Motion Planning by Interior-Exterior Cell Exploration. L’estensione non impone l’elusione degli ostacoli. Assegna ad ogni cella un’importanza che combina lo sforzo necessario per raggiungerla con quello necessario per liberarla da eventuali ostacoli. L’algoritmo risultante è scalabile grazie alla sua indipendenza dalla dimensione della mappa e dal numero, forma e posizione degli ostacoli. Non impone restrizioni sulle azioni da eseguire: ogni oggetto può venir spinto o afferrato. Allo stato attuale, l’algoritmo assume una completa conoscenza del mondo circonstante. L’ambiente è però riconfigurabile di modo che l’algoritmo possa venir facilmente esteso alla risoluzione di problemi di Navigazione tra Oggetti Removibili in ambienti ignoti. L’algoritmo gestisce i feedback dati dai sensori per correggere le incertezze. Solitamente la Robotica separa la risoluzione dei problemi di pianificazione del movimento da quelli di manipolazione. La Navigazione tra Ostacoli Removibili forza il loro trattamento combinato introducendo la necessità di manipolare oggetti diversi, spesso ignoti, durante la navigazione. Adottare prese pre calcolate non fa fronte alla grande quantità e diversità di oggetti esistenti. Questa tesi propone un Framework di Conoscenza Semantica a supporto dell’algoritmo sopra esposto. Essodàairobotlacapacitàdiimparareamanipolareoggettiedisseminareleinformazioni acquisite durante il compimento dei compiti assegnati. Il Framework si compone di un’Ontologia e di un Engine. L’Ontologia estende lo Standard IEEE formulato per Ontologie per la Robotica e l’Automazione andando a definire le manipolazioni apprese e gli oggetti rilevati. È accessibile a qualsiasi robot connesso al Cloud. Può venir considerato I) una raccolta di dati per l’esecuzione efficiente ed affidabile di azioni ripetute; II) un archivio Web per lo scambio di informazioni tra robot e la velocizzazione della fase di apprendimento. Ad ora, non esistono altre ontologie sulla manipolazione che rispettino lo Standard IEEE. Indipendentemente dallo standard, l’Ontologia propostadifferiscedaquelleesistentiperiltipodiinformazionisalvateeperilmodoefficienteincui un agente può accedere a queste informazioni: attraverso un algoritmo di Cascade Hashing molto veloce. L’Engine consente il calcolo e il salvataggio delle manipolazioni non ancora in Ontologia. Si basa su tecniche di Reinforcement Learning che evitano il training massivo su basi di dati a larga scala, favorendo l’interazione uomo-robot. Infatti, viene data ai robot la possibilità di imparare dagli umani attraverso un framework di Apprendimento Robotico da Dimostrazioni. Il sistema finale è flessibile ed adattabile a robot diversi operanti in diversi ambienti industriali. È caratterizzato da una struttura modulare in cui ogni blocco è completamente riutilizzabile. Ogni blocco si basa sul sistema open-source denominato Robot Operating System. Non tutti i controllori industriali sono disegnati per essere compatibili con questa piattaforma. Viene quindi presentato il metodo che è stato adottato per aprire i controllori dei robot industriali e crearne un’interfaccia ROS.
Lertpiriyasuwat, Vatchara. "Real-time estimation of end-effector position and orientation for manufacturing robots /". Thesis, Connect to this title online; UW restricted, 2000. http://hdl.handle.net/1773/7047.
Pełny tekst źródłaAnderson, Eric William. "Design of a low cost, high speed robot for poultry processing". Thesis, Available online, Georgia Institute of Technology, 2004:, 2004. http://etd.gatech.edu/theses/available/etd-06092004-082016/unrestricted/anderson%5eric%5w%5200408%5ms.pdf.
Pełny tekst źródłaImme Ebert-Uphoff, Committee Member ; Wayne Book, Committee Member ; Harvey Lipkin, Committee Chair. Includes bibliographical references.
Hogan, John Elliott. "Minimum aisle width path planning for nonholonomic mobile robots in industrial environments". Diss., Georgia Institute of Technology, 1997. http://hdl.handle.net/1853/16716.
Pełny tekst źródłaWang, Jianqiang. "Intelligent gripper design and application for automated part recognition and gripping". Thesis, Port Elizabeth Technikon, 2002. http://hdl.handle.net/10948/102.
Pełny tekst źródłaCronin, Joe Mechanical & Manufacturing Engineering Faculty of Engineering UNSW. "Design, construction and control of an industrial scale biped robot". Awarded by:University of New South Wales. School of Mechanical and Manufacturing Engineering, 2005. http://handle.unsw.edu.au/1959.4/23394.
Pełny tekst źródłaWerschmidt, Carol Louise. "Creation and implementation of off-line programming for a high speed machining robot". Thesis, Georgia Institute of Technology, 1988. http://hdl.handle.net/1853/16912.
Pełny tekst źródłaDanielsson, Fredrik, i Anders Lindgren. "A method for collision handling for industrial robots". Thesis, Linköping University, Department of Electrical Engineering, 2008. http://urn.kb.se/resolve?urn=urn:nbn:se:liu:diva-12063.
Pełny tekst źródłaThis master's thesis presents the development of a collision handling function for Motoman industrial robots and investigates further use of the developed software. When a collision occurs the arm is to be retracted to a safe home location and the job is to be restarted to resume the production. The retraction can be done manually, which demands that the operator has to have good knowledge in robot handling and it might be a time consuming task. To minimise the time for restarting the job after a collision and allowing employees that have limited knowledge in robot handling to retract and restart the job, Motoman provides an automatical retraction function. However, the retraction function may cause further collisions when used and therefor a new function for retracting the arm is needed. The new function is based on that the motion of the robot is recorded by sampling the servo values, which are then stored in a buffer. A job file is automatically created and loaded into the control system, and the position variables of the job file are updated using the contents of the buffer. This will ensure a safe retraction of the arm as long as the environment surrounding the robot remains the same.
The developed software made it possible to control the robot in real-time by changing the buffer information, which has lead to a cognitive system called the Pathfinder. By initiating the Pathfinder function with at least a start and an end point, the function generates a collision free path between the start point and the end point. A pilot-study has also been made concerning integration of a vision system with the Pathfinder to increase the decision handling for the function.
Waiboer, Robert Rens. "Dynamic modelling, identification and simulation of industrial robots". Enschede : University of Twente [Host], 2007. http://doc.utwente.nl/57838.
Pełny tekst źródłaJohnsrud, Vegard. "Improvement of the Positioning Accuracy of Industrial Robots". Thesis, Norges teknisk-naturvitenskapelige universitet, Institutt for produksjons- og kvalitetsteknikk, 2014. http://urn.kb.se/resolve?urn=urn:nbn:no:ntnu:diva-26243.
Pełny tekst źródłaBiain, Galdos Ander, i Oiarbide Iñaki Ordoki. "Cloud-based monitor and control of industrial robots". Thesis, Högskolan i Skövde, Institutionen för ingenjörsvetenskap, 2021. http://urn.kb.se/resolve?urn=urn:nbn:se:his:diva-19871.
Pełny tekst źródłaSteven, Andrew. "Hybrid force and position control in robotic surface processing". Thesis, University of Newcastle Upon Tyne, 1989. http://hdl.handle.net/10443/657.
Pełny tekst źródłaBahloul, Abdelkrim. "Sur la commande des robots manipulateurs industriels en co-manipulation robotique". Thesis, Université Paris-Saclay (ComUE), 2018. http://www.theses.fr/2018SACLS511/document.
Pełny tekst źródłaIn this thesis, we were interested in the control of industrial manipulators in co-manipulation mode with a human operator for the handling of heavy loads. First, we have presented an overview of existing studies in this framework. Then, we have addressed the modeling and the identification of dynamic parameters for the Denso VP-6242G robot. We have used the OpenSYMORO software to calculate its dynamical model. After a detailed presentation of the method for identifying the robot's parameters, we have applied it to the case of our robot. This allowed us to obtain a vector of the parameters which guarantees a positive definite inertia matrix for any configuration of the robot, as well as a good quality of reconstruction of the torques in the case of constant joint velocities or in the case of variable ones over time. To continue, we have detailed the new features that have been proposed for the online trajectory generator, for which the control scheme is based on. We have presented a method for estimating the operator's force from the measurements of the interaction force between the robot and the operator, while taking into account for the penalization of the operator's force in order to have an information of this last which allows to generate a trajectory that respects the limits of workspace. Some tests of the trajectory generator simulating different possible scenarios have allowed us to check the effectiveness of the new proposed features. The generator makes it possible to produce a trajectory in the three-dimensional workspace according to the direction of the force applied by the operator, which contributes to fulfill the requirement of transparency that is sought in a co-manipulation. In the last part, we have presented and validated, in simulation, an impedance control whose reference trajectories are delivered by the proposed generator. The obtained results have shown a good trajectory tracking. On the other hand, the satisfaction of the virtual bounds of the workspace has also been nicely taken into account. However, the corresponding articular trajectories can cross the bounds defined to preserve the integrity of the robot
Howe, A. Scott. "Modular robots for self-constructing building systems". Thesis, Click to view the E-thesis via HKUTO, 2007. http://sunzi.lib.hku.hk/hkuto/record/B39005185.
Pełny tekst źródłaBiro, Robert Fuelep. "Visual servoing using industrial components". Thesis, Georgia Institute of Technology, 1996. http://hdl.handle.net/1853/17985.
Pełny tekst źródłaWard, Keith Ronald. "Pseudo joint damping for reactive control of a mobile manipulator". Thesis, Georgia Institute of Technology, 1993. http://hdl.handle.net/1853/17634.
Pełny tekst źródłaRieber, Jochen M. "L₂-gain based control of a flexible parameter-varying robot link". Thesis, Georgia Institute of Technology, 2001. http://hdl.handle.net/1853/20918.
Pełny tekst źródłaPotocki, Jon Kyle 1965. "Adaptive control and simulation of the PUMA 560 robot". Thesis, The University of Arizona, 1989. http://hdl.handle.net/10150/277217.
Pełny tekst źródłaThong, Woon Kong. "The calibration of a robotic workstation /". Thesis, McGill University, 1986. http://digitool.Library.McGill.CA:80/R/?func=dbin-jump-full&object_id=65344.
Pełny tekst źródłaGoettsch, Ulix. "Basis functions for use in direct calibration techniques to determine part-in-hand location /". Thesis, Connect to this title online; UW restricted, 2001. http://hdl.handle.net/1773/7147.
Pełny tekst źródłaPersson, Johan. "Modelling and Simulation of Compact Gears for Industrial Robots". Thesis, Linköping University, Linköping University, Department of Management and Engineering, 2009. http://urn.kb.se/resolve?urn=urn:nbn:se:liu:diva-16826.
Pełny tekst źródłaIn order to be competitive in the markets of today, more and more companies try to make their production more effective by automation. Consequently more money is invested in robots and the operability of the robots becomes increasingly important. Undetected faults may result in damages, both to the robot itself and to the operator, which make detection and prediction of faults important.
The gearboxes responsible for controlling the motions of the robots are essential for their functionality. In order to increase the understanding about them this project focuses on creating a model of the stress distribution inside a gearbox.
First, the geometry of the gearbox is measured and digitalized using a vernier caliper, a protractor, a ruler and the CAD-program Solid Works. Then the geometry is imported into the finite element program Samcef.
In Samcef, the interaction between the parts in the gearbox is modeled and a dynamic simulation of the stresses inside the gearbox during a robot cycle performed.
Since there are almost no experience about Samcef at ABB SECRC, part of the project is to evaluate the program and comment the experiences received when using it.
Two main power transmission steps are identified, modeled and simulated. They are merged together into a big model where both steps are present. This model consists of all the essential power transmission inside the gearbox, from input to output. The load applied is a rotational movement on the input axle during a robot cycle.
Meer, Naweed. "Environment Mapping with a Kinect Sensor using Industrial Robots". Thesis, Mälardalens högskola, Akademin för innovation, design och teknik, 2016. http://urn.kb.se/resolve?urn=urn:nbn:se:mdh:diva-30966.
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