A master thesis from Aalborg University
An Impedance Control Driven Robotic Disassembly Platform used For Screw Unfastening: Unfastening of Screws
[An Impedance Control Driven Robotic Disassembly Platform used For Screw Unfastening]
Author(s)
Term
4. semester
Education
Publication year
2021
Submitted on
2021-06-02
Pages
52 pages
Abstract
A robotic system using a KUKA LBR iiwa and an Arduino Mega 2560 is presented, which acquires the user/worker input from the integration into the skill-based system, which uses positions taught by the user/worker to unfasten screws. It does this by utilizing the skill-based system user interface, which is built to make task-level programming possible, enabling an inexperienced worker to program the robot to do complex tasks. The robotic system uses the skill-based system to control and manage the connected devices, which enables the robotic system to use a series of simple commands to the robot resulting in the complex task of unfastening screws. The skill-based system makes this possible through 3 layers of programming, which is utilized to create complex tasks. The robotic system is successful in tests using positions taught by the user/worker and is able to unfasten screws, despite having screws of different lengths successfully.
Keywords
Documents
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