2026-09-19T15:45:10Z https://www.ideals.illinois.edu/oai-pmh

oai:www.ideals.illinois.edu:2142/99427 2023-07-11 col_2142_5131 col_2142_10761 com_2142_5130 com_2142_10755 com_2142_234

Bretl, Timothy Ehrat, Braden M. 2018-03-13T15:49:16Z 2018-03-13T15:49:16Z 2017-12-13 2017-12 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. Submission original under an indefinite embargo labeled 'Open Access'. The submission was exported from vireo on 2018-03-13 without embargo terms The student, Braden Ehrat, accepted the attached license on 2017-12-13 at 10:54. The student, Braden Ehrat, submitted this Thesis for approval on 2017-12-13 at 11:04. This Thesis was approved for publication on 2017-12-13 at 15:05. DSpace SAF Submission Ingestion Package generated from Vireo submission #11968 on 2018-03-13 at 10:12:22 Made available in DSpace on 2018-03-13T15:49:16Z (GMT). No. of bitstreams: 2 EHRAT-THESIS-2017.pdf: 6947244 bytes, checksum: c04bb342561d8eec05e0fed4ae344b3c (MD5) LICENSE.txt: 4209 bytes, checksum: c0fe69a0e8cc3ac8e763fe65302f5c2d (MD5) Previous issue date: 2017-12-13 application/pdf http://hdl.handle.net/2142/99427 en Copyright 2017 Braden Ehrat ASEA Brown Boveri (ABB) Industrial Robots Robot operating system (ROS) Nitinol Real-time control of industrial robots for shape setting Nitinol rods text text Computer Science Computer Science University of Illinois at Urbana-Champaign Thesis M.S.