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

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

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dc.contributor.advisor Robertsson, Anders es_ES
dc.contributor.advisor Johansson, Rolf es_ES
dc.contributor.author Otero Abad, Eduardo Luis es_ES
dc.date.accessioned 2013-05-23T10:42:55Z
dc.date.available 2013-05-23T10:42:55Z
dc.date.created 2011-12
dc.date.issued 2013-05-23
dc.identifier.uri http://hdl.handle.net/10251/29069
dc.description.abstract Consulta en la Biblioteca ETSI Industriales (8948) es_ES
dc.description.abstract [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. es_ES
dc.language Inglés es_ES
dc.publisher Universitat Politècnica de València es_ES
dc.rights Reserva de todos los derechos es_ES
dc.subject Consulta en la Biblioteca ETSI Industriales es_ES
dc.subject Robots es_ES
dc.subject.classification INGENIERIA DE SISTEMAS Y AUTOMATICA es_ES
dc.subject.other Ingeniero en Automática y Electrónica Industrial-Enginyer en Automàtica i Electrònica Industrial es_ES
dc.title Human-robot interaction: Synchronization between high-level robot programming and external sensor feedback es_ES
dc.type Proyecto/Trabajo fin de carrera/grado es_ES
dc.rights.accessRights Cerrado es_ES
dc.contributor.affiliation Universitat Politècnica de València. Escuela Técnica Superior de Ingenieros Industriales - Escola Tècnica Superior d'Enginyers Industrials es_ES
dc.description.bibliographicCitation Otero Abad, EL. (2011). Human-robot interaction: Synchronization between high-level robot programming and external sensor feedback. http://hdl.handle.net/10251/29069. es_ES
dc.description.accrualMethod Archivo delegado es_ES


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