Robot Workcell Modelling and Collision Detection with MATLAB Robotics Toolbox
Deng, Xiaoyun (2012)
2012
Master's Degree Programme in Machine Automation
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Hyväksymispäivämäärä
2012-06-06
Julkaisun pysyvä osoite on
http://urn.fi/URN:NBN:fi:tty-201206081178
http://urn.fi/URN:NBN:fi:tty-201206081178
Tiivistelmä
The modelling of robotic systems and collision detection are important tasks for the manufacturing industry, targeting the reduction of possible damages to the robot working environment and human operators. The MATLAB software and its Robotics Toolbox are powerful tools for robotics modelling and collision analysis.
This thesis work was carried out at the Factory Automation System and Technologies Laboratory of Tampere University of Technology. It provides approaches for the 3D modelling of: robot, workcell and its components by MATLAB. These components include conveyors, cube shape and sphere shape objects. The thesis also provides an approach for collision detection between the robot and its working environment. Two main collision detection approaches are presented; one is based on the distance calculation between the robot and the obstacle, the second one consists on analysing the trajectory of both the robot and the obstacle. For controlling purposes, several graphical user interfaces have been developed in order to make the controlling process and the reading of the collision results clear for the user.
This thesis work was carried out at the Factory Automation System and Technologies Laboratory of Tampere University of Technology. It provides approaches for the 3D modelling of: robot, workcell and its components by MATLAB. These components include conveyors, cube shape and sphere shape objects. The thesis also provides an approach for collision detection between the robot and its working environment. Two main collision detection approaches are presented; one is based on the distance calculation between the robot and the obstacle, the second one consists on analysing the trajectory of both the robot and the obstacle. For controlling purposes, several graphical user interfaces have been developed in order to make the controlling process and the reading of the collision results clear for the user.