Real-time control of industrial robots for shape setting Nitinol rods
Ehrat, Braden M.
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https://hdl.handle.net/2142/99427
Description
Title
Real-time control of industrial robots for shape setting Nitinol rods
Author(s)
Ehrat, Braden M.
Issue Date
2017-12-13
Director of Research (if dissertation) or Advisor (if thesis)
Bretl, Timothy
Department of Study
Computer Science
Discipline
Computer Science
Degree Granting Institution
University of Illinois at Urbana-Champaign
Degree Name
M.S.
Degree Level
Thesis
Keyword(s)
ASEA Brown Boveri (ABB)
Industrial
Robots
Robot operating system (ROS)
Nitinol
Abstract
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.
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