Usklađeno dvoručno robotsko sklapanje

Šarić, Ante (2015) Usklađeno dvoručno robotsko sklapanje. = Coordinated dual-arm assembly. Master's thesis (Bologna) , Sveučilište u Zagrebu, Fakultet strojarstva i brodogradnje, UNSPECIFIED. Mentor: Jerbić, Bojan and Kovačić, Zdenko.

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Abstract (Croatian)

U ovom radu će se obraditi regulacija dva industrijska robota preko TCP/IP protokola pomoću diskretnog PID regulatora koji omogućava montažu u pokretu. Prvo se tražilo vrijeme diskretizacije za regulator koje je dobiveno mjerenjem kašnjenja slanja podatka preko TCP/IP-a. Sustav zbog velikog kašnjenja dobivanja podataka i brzine kretanja robota nije previše pogodan za PID regulaciju. Sustav se testirao s tri vrste regulatora (PI, PD, PID) na brzini od 50 mm/s i na kraju je odabran najoptimalniji regulator (PID) za daljnja testiranja pri većim brzinama. Iako sustav ima preveliko kašnjenje pri malim brzinama kretanja master robota (50 mm/s) regulator se pokazao dovoljno točnim i stabilnim da bi se proces spajanja mogao izvesti, što je i demonstrirano u radu. Nakon toga se izvršio proces nezavisnog mjerenja rezultata preko vizijskog sustava za utvrđivanje stvarne greške sustava i demonstracija spajanja s realnim objektima.

Abstract

Abstract – In this paper the control of industrial robots with discrete PID controller over TCP/IP protocol for purposes of assembly in motion is shown. First discretization time is found for controller which is acquired by measuring delay of the signal over TCP/IP. Because of large latency of the combination it is shown that it's not very suitable for PID control. The system has then been tested with three controllers (PI, PD, PID) and in the end the most optimal controller has been chosen for further testing at higher speeds. Although the system has large latency on smaller motion speeds of master robots (50 mm/s) the controller has been show to be precise and stable enough for the process of assembly to be completed. After that the proces of independent measurement using vision system has been done and the demonstration assembly with real object has been demonstrated.

Item Type: Thesis (Master's thesis (Bologna))
Uncontrolled Keywords: PID regulacija; robotika; tcp/ip; industrijski roboti
Keywords (Croatian): PID controler; robotics; tcp/ip protocol; industrial robots
Subjects: TECHNICAL SCIENCE > Mechanical Engineering
Divisions: 900 Department of Robotics and Production System Automation > 920 Chair of Manufacturing and Assembly System Planning
Date Deposited: 30 Nov 2015 12:10
Last Modified: 19 Jul 2016 10:58
URI: http://repozitorij.fsb.hr/id/eprint/4864

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