Control of Robots
Hyleh, Sirius (2023)
Julkaisun pysyvä osoite on
https://urn.fi/URN:NBN:fi:amk-202305047602
https://urn.fi/URN:NBN:fi:amk-202305047602
Tiivistelmä
The efficiency of modern manufacturing relies on industrial robots which are programmed to perform a number of different tasks that were previously done by humans. This thesis explores the possibilities of control of robots, focusing on the applications of six-axis robots in particular, as well as the safe implementation of an entry-level articulated robot to an educational institution. Niryo Ned2 robot was programmed to perform a pick-and-place task to grasp objects with both manual and computer vision-based control. By analyzing the programs, it was concluded that a lot of industrial applications demand the robot to be able to continuously adjust to the changes in environment, and conventional programming without the use of computer vision is often insufficient. ROS-based applications of commercially available Ned2 were then demonstrated and their capabilities and limitations discussed. The kinematics of the robot was then studied with both the Denavit-Hartenberg convention as well as by constructing a Jacobian matrix which was used to determine the relation between the end-effector velocities and joint velocities of the robot. The rules of the Denavit-Hartenberg convention were implemented successfully, and the actual position of the end-effector with the chosen joint angles were compared to the values of Ned2, which were very similar. The result was believed to be affected by the manual measurement of joint links and the oversimplified diagram.