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Peg-In-Hole Insertion of Industrial Workpieces
Örebro University, School of Science and Technology.
Örebro University, School of Science and Technology.
2019 (Swedish)Independent thesis Basic level (degree of Bachelor), 10 credits / 15 HE creditsStudent thesisAlternative title
Peg-In-Hole Insertion of Industrial Workpieces (English)
Abstract [sv]

Denna rapport täcker arbetet och resultatet av en högnivåkontroller för en robotarmsombesitterintentionenattmonteraettcylinderformatverktygiettcirkulärt hål, så kallad peg-in-hole. Detta åstadkoms genom att implementera en kontroller som ett ROS paket. Styrning av roboten gjordes med hjälp av en impedans kontroller och kraftavläsning användes som externa sensorer för guidning av roboten. Utvecklingen gjordes både i simulering och på en riktig robot. Implemtationen visade sig vara lyckad att utföra uppgiften med hänsyn till de satta kraven. Förbättringspotentialen är bättre kraftavläsning samt ett tillägg av externa sensorer för en förbättrad avläsning av robotens omgivningen.

Abstract [en]

This thesis covers the work and result of a high level controller for a robot arm with the intention of inserting a cylinder shaped tool into a circular hole, a so called peg-in-hole insertion. This was done by implementing a controller as a ROS package. An impedance controller was used for controlling the robot and force feedback readings as external senses for guiding the robot tool. Development was done in simulation and on a real robot. The implementation proved to be successful at performing an insertion in regards to the set requirements, with the potential improvements being a better force reading as well as added external senses for improved environmental perception

Place, publisher, year, edition, pages
2019. , p. 59
National Category
Computer Sciences
Identifiers
URN: urn:nbn:se:oru:diva-76541OAI: oai:DiVA.org:oru-76541DiVA, id: diva2:1352852
Subject / course
Computer Engineering
Examiners
Available from: 2019-09-20 Created: 2019-09-20 Last updated: 2019-09-20Bibliographically approved

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CiteExportLink to record
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Citation style
  • apa
  • ieee
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Language
  • de-DE
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  • nn-NB
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  • Other locale
More languages
Output format
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