Details
| Titel in Übersetzung | Automatisiertes, kraftgeregeltes Ertasten von Oberflächenstrukturen in der Einzelfertigung mittels Industrierobotern |
|---|---|
| Originalsprache | Englisch |
| Betreut von |
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| Publikationsstatus | Angenommen/Im Druck - 18 Feb. 2013 |
Abstract
During the simulation with the software of the robot manufacturer, it was observed the forces could not be simulated correctly. Consequently simulation was changed to checking collisions instead of measuring forces. But it became apparent that the actual robot behaved very differently compared to the simulations. Therefore, the programming had to be done at the actual robot. The algorithms had to be simple but effective at the same time, because the computing power and memory of the robot controller is very limited. Concluding, the robot was able to search for simple and complex shaped objects in a given range and do some work on the surface. Experiments were done to determine the optimal process parameters, such as speeds and reference forces.
Schlagwörter
- Studienarbeit
Fachgebiet (basierend auf ÖFOS 2012)
- TECHNISCHE WISSENSCHAFTEN
- Elektrotechnik, Elektronik, Informationstechnik
- Elektrotechnik, Elektronik, Informationstechnik
- Robotik
- NATURWISSENSCHAFTEN
- Informatik
- Informatik
- Softwareentwicklung
- TECHNISCHE WISSENSCHAFTEN
- Maschinenbau
- Maschinenbau
- Fertigungstechnik
Zitieren
- Standard
- Harvard
- Apa
- Vancouver
- BibTex
- RIS
2013. 64 S.
Publikation: Qualifikations-/Studienabschlussarbeit › Sonstige Qualifikationsarbeit
}
TY - THES
T1 - Automatic, force control based touch sensing of surface structures for single piece production using industrial robots
AU - Holst, Tobias
PY - 2013/2/18
Y1 - 2013/2/18
N2 - The aim of this thesis is to investigate the use of force control based touch sensing to determine the shape of a part with complex surfaces. The target application is supposed to apply a friction stir process to a Nickel Aluminium Bronze part, made up of complex, three dimensional surfaces with minimal part-specific programming. The working area was simulated on the computer and a basic algorithm was tested in the simulation. Following this procedure, a state of the art industrial robot with force control mounted on a mobile platform was used and programmed. The programming was checked on real objects with simple and complex surfaces and then optimized for speed, correctness and flexibility.During the simulation with the software of the robot manufacturer, it was observed the forces could not be simulated correctly. Consequently simulation was changed to checking collisions instead of measuring forces. But it became apparent that the actual robot behaved very differently compared to the simulations. Therefore, the programming had to be done at the actual robot. The algorithms had to be simple but effective at the same time, because the computing power and memory of the robot controller is very limited. Concluding, the robot was able to search for simple and complex shaped objects in a given range and do some work on the surface. Experiments were done to determine the optimal process parameters, such as speeds and reference forces.
AB - The aim of this thesis is to investigate the use of force control based touch sensing to determine the shape of a part with complex surfaces. The target application is supposed to apply a friction stir process to a Nickel Aluminium Bronze part, made up of complex, three dimensional surfaces with minimal part-specific programming. The working area was simulated on the computer and a basic algorithm was tested in the simulation. Following this procedure, a state of the art industrial robot with force control mounted on a mobile platform was used and programmed. The programming was checked on real objects with simple and complex surfaces and then optimized for speed, correctness and flexibility.During the simulation with the software of the robot manufacturer, it was observed the forces could not be simulated correctly. Consequently simulation was changed to checking collisions instead of measuring forces. But it became apparent that the actual robot behaved very differently compared to the simulations. Therefore, the programming had to be done at the actual robot. The algorithms had to be simple but effective at the same time, because the computing power and memory of the robot controller is very limited. Concluding, the robot was able to search for simple and complex shaped objects in a given range and do some work on the surface. Experiments were done to determine the optimal process parameters, such as speeds and reference forces.
KW - Studienarbeit
KW - Student Research Project
M3 - Other academic qualification work
ER -