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Title:Real-time control of industrial robots for shape setting Nitinol rods
Author(s):Ehrat, Braden M.
Advisor(s):Bretl, Timothy
Department / Program:Computer Science
Discipline:Computer Science
Degree Granting Institution:University of Illinois at Urbana-Champaign
Degree:M.S.
Genre:Thesis
Subject(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.
Issue Date:2017-12-13
Type:Text
URI:http://hdl.handle.net/2142/99427
Rights Information:Copyright 2017 Braden Ehrat
Date Available in IDEALS:2018-03-13
Date Deposited:2017-12


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