An Impedance Control Driven Robotic Disassembly Platform used For Screw Unfastening: Unfastening of Screws
Translated title
An Impedance Control Driven Robotic Disassembly Platform used For Screw Unfastening
Author
Sørensen, Jacob Krunderup
Term
4. semester
Education
Publication year
2021
Submitted on
2021-06-02
Pages
52
Abstract
Dette projekt præsenterer et robotsystem, der gør det muligt for operatører uden programmeringserfaring at lære en robot at løsne skruer. Systemet kombinerer en KUKA LBR iiwa robotarm og en Arduino Mega 2560 i et færdighedsbaseret system. Via en brugerflade på opgaveniveau kan brugeren vise robotten de nødvendige positioner og vælge foruddefinerede færdigheder. Systemet styrer de tilsluttede enheder og omsætter en række simple kommandoer til den komplekse opgave at løsne skruer. Den trelags programmeringsstruktur gør det muligt at sammensætte komplekse opgaver af basale handlinger. I tests, hvor positionerne var lært af brugeren, lykkedes det robotten at løsne skruer i forskellige længder.
This thesis presents a robotic system that enables workers without programming experience to teach a robot to unfasten screws. It integrates a KUKA LBR iiwa robot arm and an Arduino Mega 2560 within a skill-based system. Through a task-level user interface, the worker shows the robot the required positions and selects predefined skills. The system manages the connected devices and turns a sequence of simple commands into the complex task of removing screws. Its three-layer programming structure makes it possible to compose complex tasks from basic actions. In tests using user-taught positions, the robot successfully removed screws of different lengths.
[This summary has been rewritten with the help of AI based on the project's original abstract]
Keywords
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