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Force-torque control for industrial robots Kuka
Staněk, Václav ; Pochylý, Aleš (referee) ; Kubela, Tomáš (advisor)
Diploma thesis contents basic types of force-torque sensors, design of end effector for robot KUKA KR3 with force-torque sensor SCHUNK FTC 050-80, connectin of senzor to control computer and solution of move control of robot to defined position with correction using data about forces and moments affecting end effector from senzor.
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FTC Control in connection with industrial robots
Flekal, Lukáš ; Pochylý, Aleš (referee) ; Kubela, Tomáš (advisor)
This diploma thesis presents theoretical possibilities of force/torque control algorithms for industrial robots equipped with force sensor so it deals with interaction between industrial robot and environment. The most important types of control schemes are presented. Practical part deals with design gripper for specific workpiece and for grinding using industrial robot with force feedback. For this operation is given force/torque control design, using industrial robot KUKA KR16, FTC sensor SCHUNK FTC 50-80V and PLC. Further deals with compensation of gravity and dynamics forces.
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FTC Control in connection with industrial robots
Mimochodek, Martin ; Pochylý, Aleš (referee) ; Kubela, Tomáš (advisor)
This diploma thesis deals with a conception of force-torque control of industrial robot applied on a finishing technology of grinding. This work includes a classification of various force-torque sensors currently available on the market. The practical part of this thesis deals with a setting-up of communication and connection among the force-torque sensor SCHUNK FTC 050-80, PLC Beckhoff CX and industrial robot KUKA KR3. Practical part is further focused on a simple model of grinding, especially the grinding force control in relation to the robot movement.
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FTC Control in connection with industrial robots
Flekal, Lukáš ; Pochylý, Aleš (referee) ; Kubela, Tomáš (advisor)
This diploma thesis presents theoretical possibilities of force/torque control algorithms for industrial robots equipped with force sensor so it deals with interaction between industrial robot and environment. The most important types of control schemes are presented. Practical part deals with design gripper for specific workpiece and for grinding using industrial robot with force feedback. For this operation is given force/torque control design, using industrial robot KUKA KR16, FTC sensor SCHUNK FTC 50-80V and PLC. Further deals with compensation of gravity and dynamics forces.
|
|
|
FTC Control in connection with industrial robots
Mimochodek, Martin ; Pochylý, Aleš (referee) ; Kubela, Tomáš (advisor)
This diploma thesis deals with a conception of force-torque control of industrial robot applied on a finishing technology of grinding. This work includes a classification of various force-torque sensors currently available on the market. The practical part of this thesis deals with a setting-up of communication and connection among the force-torque sensor SCHUNK FTC 050-80, PLC Beckhoff CX and industrial robot KUKA KR3. Practical part is further focused on a simple model of grinding, especially the grinding force control in relation to the robot movement.
|
|
|
Force-torque control for industrial robots Kuka
Staněk, Václav ; Pochylý, Aleš (referee) ; Kubela, Tomáš (advisor)
Diploma thesis contents basic types of force-torque sensors, design of end effector for robot KUKA KR3 with force-torque sensor SCHUNK FTC 050-80, connectin of senzor to control computer and solution of move control of robot to defined position with correction using data about forces and moments affecting end effector from senzor.
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