Usklađeno rukovanje objektima pomoću dva robota korištenjem senzora sile i momenata

Pažanin, Ivan (2018) Usklađeno rukovanje objektima pomoću dva robota korištenjem senzora sile i momenata. = Coordinated handling of objects by two robots using force and torque sensor. Master's thesis (Bologna) , Sveučilište u Zagrebu, Fakultet strojarstva i brodogradnje, UNSPECIFIED. Mentor: Jerbić, Bojan.

[img]
Preview
Text
Pažanin_2018_diplomski.pdf - Published Version Jezik dokumenta:Croatian

Download (5MB) | Preview
[img] Text
Pažanin_Ivan_autorska_izjava_diplomski_2018.pdf - Published Version
Restricted to Repository staff only Jezik dokumenta:Croatian

Download (520kB)

Abstract (Croatian)

U ovom radu realizirano je dvoručno usklađeno rukovanje predmetom u prostoru pomoću šesteroosnog senzora sila i momenata. Korištene su robotske ruke UR3 i UR5 kompanije Universal Robots tako da manja UR3 ruka, upravljana programom sa privjeska za učenje, zadaje trajektoriju, a veća UR5 ruka, uz pomoć filtriranog signala senzora i upravljana programski na daljinu preko TCP protokola, pridržava predmet i prati trajektoriju manje ruke. Pridržavanje i praćenje trajektorije ostvaruje se proporcionalno-integralno-derivacijskom (PID) regulacijom brzina zakreta pojedinih zglobova UR5 robota uz upotrebu inverzne Jacobijeve matrice. Koristeći Denavit-Hartenberg konvenciju, analizirana je geometrija robota i razrađen kinematički model, opisan je postupak nalaženja direktne i inverzne kinematike robota, kao i Jacobijeve i inverzne Jacobijeve matrice.

Abstract

Using a six-axis force torque sensor, a coordinated two-arm spatial object handling method is realized in this paper. The two industrial robot arms used, UR3 and UR5 from Universal Robots, are used such that the smaller UR3 arm, being controlled by its teach pendant, sets the trajectory, while the larger UR5 arm, using a filtered sensor signal and being controlled by a remote computer over TCP, holds the object in place and follows the trajectory of the smaller arm. Holding of the object and trajectory following is done with proportional-integral-derivative (PID) control of individual angular joint speeds of the UR5 arm using an inverse Jacobian matrix. The geometry of the robot is analyzed and a kinematic model is worked out using the Denavit-Hartenberg convention, the process of finding the direct and inverse kinematics, as well as finding the Jacobian and inverse Jacobian matrix, is elaborated.

Item Type: Thesis (Master's thesis (Bologna))
Uncontrolled Keywords: robotika; rukovanje; senzor; sile; momenti; upravljanje silom i momentima; Universal Robots; UR5; FT 150; PID; kinematika
Keywords (Croatian): robotics; handling; sensor; force; torque; force torque control; Universal Robots; UR5; FT 150; PID; kinematics
Subjects: TECHNICAL SCIENCE > Mechanical Engineering
Divisions: 900 Department of Robotics and Production System Automation > 920 Chair of Manufacturing and Assembly System Planning
Date Deposited: 05 Jul 2018 09:54
Last Modified: 03 Dec 2019 16:11
URI: http://repozitorij.fsb.hr/id/eprint/8617

Actions (login required)

View Item View Item

Downloads

Downloads per month over past year