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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
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
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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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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