Real-time control of industrial robots for shape setting Nitinol rods

ASEA Brown Boveri (ABB);Industrial;Robots;Robot operating system (ROS);Nitinol

Ehrat, Braden M. ; Bretl ; Timothy

关键词: ASEA Brown Boveri (ABB);    Industrial;    Robots;    Robot operating system (ROS);    Nitinol;   

Others  :  https://www.ideals.illinois.edu/bitstream/handle/2142/99427/EHRAT-THESIS-2017.pdf?sequence=1&isAllowed=y

美国|英语

来源: The Illinois Digital Environment for Access to Learning and Scholarship

【 摘 要 】

Most robots in industrial settings today rely on playback of precise pre-defined coordinates and do not adjust their motion using feedback from sensors. This thesis describes a system to implement real-time motion control of ABB Industrial robots through ROS (Robot Operating System), which enables general use for future experiments that control the robot arms using real-time feedback from force-torque sensors and/or computer vision. Additionally, these robots are used to bend a Nitinol rod into a desired shape and a hardware system has been built to shape-set Nitinol rods with Joule heating.