Human-robot interaction: Synchronization between high-level robot programming and external sensor feedback

Abstract

Consulta en la Biblioteca ETSI Industriales (8948)

[EN] This Master Thesis presents the necessary steps to influence upon the robot motion, from different parts in the present control architecture system, with different purpose controllers. The exact model used for this project is the IRB 140, a sixth-joint industrial robot. For achieving the main goal, the architecture of the ABB IRC5 control system, used here, and its extensions play a decisive role in the communications in order to properly handle them for the low-level robot controller. In the present system new functionality has been developed regarding communication with the robot controller with the aim of making the robot programming level more open and flexible, committed to give support to the permanently demands coming up from this industry as well as the researching field of study. Through the present work, we have wanted to show the upcoming necessity of working with open robot control architecture, which allows different robot controller implementations working simultaneously for the same robot task, among other things. A drilling operation has been programmed in ABB Rapid language. The ABB Company provides the necessary communications and implementations for the robot controller to interact with the robot from the Rapid-level. Moreover, in the same context, a force control loop, additionally to other features, have been developed through the Real-Time Workshop library of SIMULINK, the high-level application program, running under Linux-based operating system allocated in a standard PC-user. This new controller also influences the robot controller allowing human-operators to perform manual guidance of the tool as well as imposing some restrictions in the robot task.