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
Date of Ingest
2018-03-13T15:49:16Z
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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