The robot programming phase is considered the main weakness of today’s industrial robotic systems due to its complexity and long concluding stage. The presentation of a new programming method, based on physical interaction between the human operator and the robot, provides an advantage in making the programming phase easier, intuitive and faster. In manual guidance method, the human operator plays the role of a teacher that physically moves the robot through the desired positions. During this travel, performed motion of the robot is recorded. The robot thereafter plays back the recorded motions. The manual guidance method is generally performed by way of force sensors mounted on the robot wrist and is based on impedance control. The high cost of force sensors fosters the development of alternative techniques. The current thesis project addresses the realization and simulation in Simulink Environment of a manual guidance method using available motor currents, applied to the COMAU SmartSix robot. In the current thesis project, stability analysis of the proposed method, relations between applied force and robot joint positions, the effect of frictional forces on robot joints to proposed method have been studied.
Nei sistemi industriali di oggi la fase di programmazione del robot è considerata il principale punto debole a causa della sua complessità e dei lunghi tempi richiesti. Nuovi metodi di programmazione, basati sull'interazione fisica tra l’operatore e il robot, forniscono un vantaggio nel rendere la fase di programmazione più facile, intuitiva e veloce. Nel metodo di manual guidance, l'operatore svolge il ruolo di un insegnante che fa muovere il robot in posizioni desiderate. Durante questa fase il movimento viene registrato dal robot stesso che è poi in grado riprodurlo automaticamente. Il metodo di manual guidance viene generalmente eseguito mediante sensori di forza montati sul polso del robot che sono basati sul controllo di impedenza. Tuttavia il costo elevato dei sensori di forza favorisce lo sviluppo di tecniche alternative. La presente tesi affronta la realizzazione e simulazione in ambiente Simulink di un metodo di manual guidance utilizzando le correnti del motore disponibili, applicate al robot SmartSix di COMAU. Durante la tesi sono stati studiati l’analisi di stabilità del metodo proposto, le relazioni tra la forza applicata e posizioni congiunti del robot, l'effetto delle forze di attrito sui giunti del robot.
Simulation of a manual guidance system for an industrial robot based on motor current measurements
BOLDAZ, ERDOGAN
2012/2013
Abstract
The robot programming phase is considered the main weakness of today’s industrial robotic systems due to its complexity and long concluding stage. The presentation of a new programming method, based on physical interaction between the human operator and the robot, provides an advantage in making the programming phase easier, intuitive and faster. In manual guidance method, the human operator plays the role of a teacher that physically moves the robot through the desired positions. During this travel, performed motion of the robot is recorded. The robot thereafter plays back the recorded motions. The manual guidance method is generally performed by way of force sensors mounted on the robot wrist and is based on impedance control. The high cost of force sensors fosters the development of alternative techniques. The current thesis project addresses the realization and simulation in Simulink Environment of a manual guidance method using available motor currents, applied to the COMAU SmartSix robot. In the current thesis project, stability analysis of the proposed method, relations between applied force and robot joint positions, the effect of frictional forces on robot joints to proposed method have been studied.File | Dimensione | Formato | |
---|---|---|---|
2013_10_Boldaz.pdf
non accessibile
Descrizione: Thesis text
Dimensione
3.54 MB
Formato
Adobe PDF
|
3.54 MB | Adobe PDF | Visualizza/Apri |
I documenti in POLITesi sono protetti da copyright e tutti i diritti sono riservati, salvo diversa indicazione.
https://hdl.handle.net/10589/85047