A method for collision handling for industrial robots

This master’s thesis presents the development of a collision handling function for Motoman industrial robots and investigates further use of the developed software. When a collision occurs the arm is to be retracted to a safe home location and the job is to be restarted to resume the production. The retraction can be done manually, which demands that the operator has to have good knowledge in robot handling and it might be a time consuming task. To minimise the time for restarting the job after a collision and allowing employees that have limited knowledge in robot handling to retract and restart the job, Motoman provides an automatical retraction function. However, the retraction function may cause further collisions when used and therefor a new function for retracting the arm is needed…


1 Introduction
1.1 Background
1.1.1 Research and Development
1.1.2 Motoman Robotics AB
1.2 Purpose
1.3 Thesis outline
I Motion Control
2 Robotics
2.1 Industrial robots in general
2.2 Sensors on the robot
2.3 Kinematics of the robot
2.4 System Overview
2.5 Robot Control
2.5.1 NX100 control system
2.5.2 NX100 Parameters
2.5.3 Safe home location
2.6 Kinematics
2.6.1 Rigid motion
2.6.2 Forward Position Kinematics
2.6.3 Inverse Position Kinematics
2.6.4 Forward Velocity Kinematics
3 Backtracking
3.1 Problem Overview
3.2 How to retrieve a safe way home
3.2.1 Using external sensors
3.2.2 Path recording
3.2.3 Test bench
3.3 How to get a steady motion
3.4 Environmental change
3.5 Restore the monitored job
3.6 INI-file
3.7 Limitations
4 Future use of the backtracking software
4.1 Real-time motion control
4.2 Pathfinder
4.2.1 Basic-Pathfinder
4.2.2 Path processing
4.2.3 Object Estimation
5 Test Results on Part I
5.1 Backtrack
5.2 Basic-Pathfinder
II Integration of a Vision System
6 Theory
6.1 The Stereo Problem
6.1.1 System Overview
6.2 Stereo Algorithm
6.2.1 Block Matching
6.2.2 Local Phase Estimation
6.3 Image processing
6.3.1 Object segmentation using histogram
6.3.2 Otsu’s method
6.3.3 Morphological operations
7 Vision System
7.1 Problem Discussion
7.2 The Developing Procedure
7.3 Image processing
7.4 Find the solution
8 Test Results on Part II
9 Discussion
10 Conclusions And Future Work
10.1 Conclusions
10.2 Future Work

Author: Danielsson, Fredrik,Lindgren, Anders

Source: Linköping University

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