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Development of a real-time controller for a robot arm

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Development of a real-time controller for a robot arm

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dc.contributor.advisor Toledo Ramírez, Gengis K. es_ES
dc.contributor.advisor Göhner, Peter es_ES
dc.contributor.author Sala Almonacil, Andrés es_ES
dc.date.accessioned 2013-06-10T12:17:26Z
dc.date.available 2013-06-10T12:17:26Z
dc.date.created 2011-03
dc.date.issued 2013-06-10
dc.identifier.uri http://hdl.handle.net/10251/29574
dc.description.abstract Consulta en la Biblioteca ETSI Industriales (8697) es_ES
dc.description.abstract [ES] The industrial robotics is a growing field. Robotic arms are the most used industrial robots. They are versatile tools able to perform different tasks. Despite of the advantages using a robotic arm, the diversity of controllers in the robotic arms industry is an important drawback. For this reason a generic controller is proposed. The aim of this master thesis is to design and implement a generic controller for robotic arms that can be used with different models of robots. The proposed controller has a modular design, it is designed with real time capabilities and the user can be a human or a system. The developed work starts with the analysis of the system requirements. Then, the analysis of the different use cases between the system user and the controller is presented. The system development includes the design of the user interface, the controller core, the real time capabilities as well as the interface to manage the attached robot. In another stage of this work the implementation was performed. Multiple tests in order to prove the system were defined and executed. The obtained results of such tests are reported in this thesis. The properly operation of the designed parts have been successfully checked through the controller implementation. This thesis presents an approach aimed to obtain a common platform for educational and research on robotic arms. In addition it gives a potential solution to one problem on robotics industry. 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 Robótica 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 Development of a real-time controller for a robot arm 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 Sala Almonacil, A. (2011). Development of a real-time controller for a robot arm. http://hdl.handle.net/10251/29574. es_ES
dc.description.accrualMethod Archivo delegado es_ES


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