Sensors guided industrial robot for assembling application:
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| 1. Verfasser: | |
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| Format: | Abschlussarbeit Buch |
| Sprache: | English |
| Veröffentlicht: |
Siegen
2016
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| Schlagworte: | |
| Online-Zugang: | Inhaltsverzeichnis Inhaltsverzeichnis |
| Beschreibung: | XIII, 136 Seiten Illustrationen, Diagramme 21 cm |
Internformat
MARC
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| 245 | 1 | 0 | |a Sensors guided industrial robot for assembling application |c von Mustafa Waad Abdullah Al-Bayati |
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Datensatz im Suchindex
| _version_ | 1804177816003018752 |
|---|---|
| adam_text | C ONTENTS
ABSTRACT II
ZUSAMMENFASSUNG IN
ACKNOWLEDGEMENTS IV
1 INTRODUCTION 1
1.1 MOTIVATION & INDUSTRY
DEMANDS.............................................................. 1
1.2 RESEARCH SCOPE AND C ONTRIB U TIO N
........................................................... 2
1.3 RESEARCH LAYOUT .............................................. 3
2 INDUSTRIAL R OBOTS 5
2.1
INTRODUCTION................................................................................................
5
2.1.1 APPLICATIONS & PROBLEM DESCRIPTION
........................................
8
2.1.2 ROBOT
KINEMATICS..........................................................................
9
2.1.3 JOINTS T YPES
...................................................................................
11
2.2 THREE DOF
SPHERICAL-JOINT.......................................................................
13
2.2.1 JOINTS T
YPES........................................................................................13
2.2.2 DESIGN C O N C EP
T.............................................................................
14
2.2.3 FORWARD KINEMATICS
.................................................................... 14
2.2.4 APPLIED TORQUES AND P A Y LO A D
..................................................... 19
2.2.5
PROTOTYPES..........................................................................................
20
2.2.6 OMNI-WHEELS ALIGNMENT AND ASSEMBLY
.........................................
21
2.2.7 GRIPPER W
ORKSPACE...........................................................................
23
2.2.8 IM PLEM
ENTATION.................................................................................
24
2.3 CONTROL SYSTEM S
.............................................................................................
25
2.3.1 DYNAMIC MODEL OF UR5 R O B O T
........................................................
28
2.3.2 OPEN SOURCE CONTROL S Y STEM S
........................................................
35
3 TELEMATIC CONTROL &: SENSORS INTEGRATION 38
3.1
INTRODUCTION....................................................................................................
38
3.2 PROBLEM D ESC RIP TIO N
.....................................................................................39
3.3 STATE OF THE A R T
..............................................................................................39
3.4 TELEMATIC & ONLINE CONTROL OVER INDUSTRIAL E TH E RN E T
..............................
41
3.4.1 O B JE C TIV E
...........................................................................................41
3.4.2 C O N C E P
T..............................................................................................42
3.4.3 SOFTWARE P LA TFO RM
S...........................................................................
46
3.4.4 TELEMATIC MACHINE GUI & F UN CTIO N ALITIES
...................................
48
3.5 MULTI-SENSORS INTEGRATION
...........................................................................
50
3.5.1 FORCE/TORQUE S E N S O R
........................................................................
51
3.5.2 VISION S Y S TE M S
..................................................................................54
3.5.3 ULTRASONIC S EN SO R
..............................................................................
57
3.6 EVALUATIONS OF TELEMATIC GUIDING A P P RO A C H
..............................................59
4 A UTOM ATED PEG-IN-H OLE ASSEM BLY 67
4.1
INTRODUCTION....................................................................................................
67
4.2 S TATE-OF-A
RT....................................................................................................
68
4.2.1 STATIC CONTACT FORCES
ANALYSIS.........................................................69
4.2.2 FORCE/TORQUE M A P
...........................................................................
69
4.2.3 CONTACT STATE ESTIMATION AND M O D E LIN G
........................................70
4.2.4 VISION SYSTEM
..................................................................................71
4.3 VISION S
ERVOING..............................................................................................71
4.4 EXPERIMENTALLY CREATED FORCE/TORQUE M A P
................................................
72
4.4.1 EXPERIMENT SETUP
.
..............................................................................
73
4.4.2 COMPUTED F /T M A P
........................................................................
74
4.4.3 INVERSE FUNCTION M ETH O D
..................................................................76
4.4.4
CONCLUSION...........................................................................................76
4.5 HUMAN OPERATOR STRATEGY A N ALY
SIS............................................................77
4.6 INTUITIVE SEARCH APPROACH BASED ON HUMAN B E H AV IO R
..............................
78
4.6.1 FORCE/TORQUE DATA ANALYSIS & M ODELING
......................................
80
5 SWITCHED-HYBRID CONTROL SYSTEM 100
5.1
INTRODUCTION..................................................................................................
100
5.1.1 STATE OF THE A R T
.............................................................................
101
5.2 POSITION CONTROL S Y S TE M
.............................................................................102
5.2.1 VERTICAL DISTANCE CONTROL
................................................................
103
5.3 FORCE CONTROL S YSTEM
...................................................................................104
5.4 VISUAL CONTROL S Y S TE M
................................................................................105
5.5 INTELLIGENT SELECTION MATRIX
......................................................................
106
5.5.1 B
ACKGROUND......................................................................................106
5.5.2 ADAPTIVE SELECTION MATRIX WITH PRIORITY INDEX
........................109
6 CONCLUSION 115
A PPENDIX A 118
APPENDIX B 119
SCRIPT CODE FOR UR5 ROBOT CONTROL S Y S TE M
....................................................119
APPENDIX C 124
APPENDIX D 125
FITTING PLOTS FOR DATA M ODEL
...............................................................................
125
A PPENDIX E 128
REFERENCES 129
|
| any_adam_object | 1 |
| author | Al-Bayati, Mustafa Waad Abdullah |
| author_GND | (DE-588)1138300527 |
| author_facet | Al-Bayati, Mustafa Waad Abdullah |
| author_role | aut |
| author_sort | Al-Bayati, Mustafa Waad Abdullah |
| author_variant | m w a a b mwaa mwaab |
| building | Verbundindex |
| bvnumber | BV044479154 |
| classification_rvk | ZQ 6250 |
| ctrlnum | (OCoLC)994683646 (DE-599)DNB1134875142 |
| dewey-full | 670.4272 |
| dewey-hundreds | 600 - Technology (Applied sciences) |
| dewey-ones | 670 - Manufacturing |
| dewey-raw | 670.4272 |
| dewey-search | 670.4272 |
| dewey-sort | 3670.4272 |
| dewey-tens | 670 - Manufacturing |
| discipline | Werkstoffwissenschaften / Fertigungstechnik Mess-/Steuerungs-/Regelungs-/Automatisierungstechnik / Mechatronik |
| format | Thesis Book |
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| illustrated | Illustrated |
| indexdate | 2024-07-10T07:54:05Z |
| institution | BVB |
| language | English |
| oai_aleph_id | oai:aleph.bib-bvb.de:BVB01-029879389 |
| oclc_num | 994683646 |
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| owner | DE-355 DE-BY-UBR DE-83 |
| owner_facet | DE-355 DE-BY-UBR DE-83 |
| physical | XIII, 136 Seiten Illustrationen, Diagramme 21 cm |
| publishDate | 2016 |
| publishDateSearch | 2016 |
| publishDateSort | 2016 |
| record_format | marc |
| spelling | Al-Bayati, Mustafa Waad Abdullah Verfasser (DE-588)1138300527 aut Sensors guided industrial robot for assembling application von Mustafa Waad Abdullah Al-Bayati Siegen 2016 XIII, 136 Seiten Illustrationen, Diagramme 21 cm txt rdacontent n rdamedia nc rdacarrier Dissertation Universität Siegen 2017 Industrieroboter (DE-588)4026861-5 gnd rswk-swf Sensortechnik (DE-588)4121663-5 gnd rswk-swf (DE-588)4113937-9 Hochschulschrift gnd-content Industrieroboter (DE-588)4026861-5 s Sensortechnik (DE-588)4121663-5 s DE-604 B:DE-101 application/pdf http://d-nb.info/1134875142/04 Inhaltsverzeichnis DNB Datenaustausch application/pdf http://bvbr.bib-bvb.de:8991/F?func=service&doc_library=BVB01&local_base=BVB01&doc_number=029879389&sequence=000001&line_number=0001&func_code=DB_RECORDS&service_type=MEDIA Inhaltsverzeichnis |
| spellingShingle | Al-Bayati, Mustafa Waad Abdullah Sensors guided industrial robot for assembling application Industrieroboter (DE-588)4026861-5 gnd Sensortechnik (DE-588)4121663-5 gnd |
| subject_GND | (DE-588)4026861-5 (DE-588)4121663-5 (DE-588)4113937-9 |
| title | Sensors guided industrial robot for assembling application |
| title_auth | Sensors guided industrial robot for assembling application |
| title_exact_search | Sensors guided industrial robot for assembling application |
| title_full | Sensors guided industrial robot for assembling application von Mustafa Waad Abdullah Al-Bayati |
| title_fullStr | Sensors guided industrial robot for assembling application von Mustafa Waad Abdullah Al-Bayati |
| title_full_unstemmed | Sensors guided industrial robot for assembling application von Mustafa Waad Abdullah Al-Bayati |
| title_short | Sensors guided industrial robot for assembling application |
| title_sort | sensors guided industrial robot for assembling application |
| topic | Industrieroboter (DE-588)4026861-5 gnd Sensortechnik (DE-588)4121663-5 gnd |
| topic_facet | Industrieroboter Sensortechnik Hochschulschrift |
| url | http://d-nb.info/1134875142/04 http://bvbr.bib-bvb.de:8991/F?func=service&doc_library=BVB01&local_base=BVB01&doc_number=029879389&sequence=000001&line_number=0001&func_code=DB_RECORDS&service_type=MEDIA |
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