Título
Adaptive Pick
&
Place Operations with Sensor - controlled Robot
Autor
RAFAEL OMAR VELÁZQUEZ LÓPEZ
Colaborador
LUIS GOVINDA GARCIA VALDOVINOS (Asesor de tesis)
José Julián III Montes_Rodríguez (Asesor de tesis)
HUGO JIMENEZ HERNANDEZ (Asesor de tesis)
Nivel de Acceso
Acceso Abierto
Materias
Resumen o descripción
"This thesis is part of the European research project “SOCRADES”, which was founded by the European Commission. The main topic is the collaboration of a robot and an integrated sensor by means of networking. The system to be developed has the objective to enable robots to perform handling operations like pick-up objects from batches and to place them on piles again without explicit programming of the Z-coordinate. The objective of this thesis is to show the collaboration between the industrial
robot SV3-X (from Motoman Company), a gripper tool and the laser sensor MQLA-
S-AC240V (from MATSUSHITA Company) to perform handling operations.
Therefore some handling procedures were developed, which describe the
collaboration between the robots and the sensor in order to pick and place
objects.
The software consists of several parts. The first is a graphical user interface
(GUI) for the laser sensor control. This software is designed to allow external
devices to communicate with the laser sensor by networking. To allow
communication with the laser sensor an embedded system was designed that
uses Microcontrollers and others electronic devices for configuration and data
acquisition.
For the robot and the gripper there was no need to develop new software
because it was already designed in a parallel project. It could be reused for the
performance of the handling operations after some modifications. The
modifications consist in adding some Object Classes with functions that allow
the robot to reach different positions using point-to-point movement or following
linear paths.
Finally to test the whole system with the purpose of show the correct
collaboration between the robot, the gripper and the laser sensor a handling
procedure will be made. The operation that will be performance is a piling
sequence, which first will take the object A and then will place it over an object
B."
Fecha de publicación
agosto de 2009
Tipo de publicación
Tesis de maestría
Recurso de información
Formato
application/pdf
Idioma
Inglés
Cobertura
DE-MX
Audiencia
Público en general
Repositorio Orígen
Repositorio Institucional CIDESI
Descargas
1420