Usklađeno rukovanje objektima pomoću dva robota korištenjem senzora sile i momenata

master's thesis

• Title (english): Coordinated handling of objects by two robots using force and torque sensor
• Author: Ivan Pažanin
• Mentor: Bojan Jerbić (mentor)
• Granter: University of Zagreb; Faculty of Mechanical Engineering and Naval Architecture; Zagreb
• Defense date and country: 2018-07-12, Croatia
• Scientific / art field, discipline and subdiscipline: TECHNICAL SCIENCES; Mechanical Engineering

Abstract

U ovom radu realizirano je dvoručno usklađeno rukovanje predmetom u prostoru pomoću šesteroosnog senzora sila i momenata. Korištene su robotske ruke UR3 i UR5 kompanije Universal Robots tako da manja UR3 ruka, upravljana programom sa privjeska za učenje, zadaje trajektoriju, a veća UR5 ruka, uz pomoć filtriranog signala senzora i upravljana programski na daljinu preko TCP protokola, pridržava predmet i prati trajektoriju manje ruke. Pridržavanje i praćenje trajektorije ostvaruje se proporcionalno-integralno-derivacijskom (PID) regulacijom brzina zakreta pojedinih zglobova UR5 robota uz upotrebu inverzne Jacobijeve matrice. Koristeći Denavit-Hartenberg konvenciju, analizirana je geometrija robota i razrađen kinematički model, opisan je postupak nalaženja direktne i inverzne kinematike robota, kao i Jacobijeve i inverzne Jacobijeve matrice.

Abstract (english)

Using a six-axis force torque sensor, a coordinated two-arm spatial object handling method is realized in this paper. The two industrial robot arms used, UR3 and UR5 from Universal Robots, are used such that the smaller UR3 arm, being controlled by its teach pendant, sets the trajectory, while the larger UR5 arm, using a filtered sensor signal and being controlled by a remote computer over TCP, holds the object in place and follows the trajectory of the smaller arm. Holding of the object and trajectory following is done with proportional-integral-derivative (PID) control of individual angular joint speeds of the UR5 arm using an inverse Jacobian matrix. The geometry of the robot is analyzed and a kinematic model is worked out using the Denavit-Hartenberg convention, the process of finding the direct and inverse kinematics, as well as finding the Jacobian and inverse Jacobian matrix, is elaborated.

• Keywords: robotika; rukovanje; senzor; sile; momenti; upravljanje silom i momentima; Universal Robots; UR5; FT 150; PID; kinematika
• Keywords (english): robotics; handling; sensor; force; torque; force torque control; Universal Robots; UR5; FT 150; PID; kinematics
• Language: croatian
• URN:NBN: urn:nbn:hr:235:979907
• Study programme: Title: Mechanical Engineering; Study programme type: university; Study level: graduate; Academic / professional title: magistar/magistra inženjer/inženjerka strojarstva (magistar/magistra inženjer/inženjerka strojarstva)
• Type of resource: Text
• File origin: Born digital
• Access conditions: Open access
• Created on: 2019-05-22 22:30:42