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http://cidesi.repositorioinstitucional.mx/jspui/handle/1024/125| Adaptive Pick & Place Operations with Sensor - controlled Robot | |
| RAFAEL OMAR VELÁZQUEZ LÓPEZ | |
| LUIS GOVINDA GARCIA VALDOVINOS José Julián III Montes_Rodríguez HUGO JIMENEZ HERNANDEZ | |
| Acceso Abierto | |
| Atribución-NoComercial | |
| Manufactura avanzada | |
| "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." | |
| 2009-08 | |
| Tesis de maestría | |
| Inglés | |
| DE-MX | |
| Público en general | |
| TÉCNICAS DE MANIPULACIÓN A DISTANCIA | |
| Aparece en las colecciones: | Celdas robóticas |
Cargar archivos:
| Fichero | Descripción | Tamaño | Formato | |
|---|---|---|---|---|
| M-ROVL-2009.pdf | 3.34 MB | Adobe PDF | Visualizar/Abrir |