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Design and testing of a position adaptation system for KUKA robots using photoelectric sensors / ADAM MORGAN

Swansea University Author: ADAM MORGAN

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Abstract

This thesis presents the development and analysis of a position monitoring and adaptation system to be used in conjunction with a KUKA KR16-2 articulated robot using components readily available in most manufacturing settings. This system could be beneficial in the manufacturing sector in areas such...

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Published: Swansea 2021
Institution: Swansea University
Degree level: Master of Research
Degree name: MSc by Research
Supervisor: Griffiths, Christian A. ; Fahmy, Ashraf
URI: https://cronfa.swan.ac.uk/Record/cronfa58973
first_indexed 2021-12-08T13:12:39Z
last_indexed 2021-12-09T04:17:28Z
id cronfa58973
recordtype RisThesis
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spelling 2021-12-08T13:24:01.9221683 v2 58973 2021-12-08 Design and testing of a position adaptation system for KUKA robots using photoelectric sensors 569cb68a944ac55e49f0c418bfef7eb2 ADAM MORGAN ADAM MORGAN true false 2021-12-08 This thesis presents the development and analysis of a position monitoring and adaptation system to be used in conjunction with a KUKA KR16-2 articulated robot using components readily available in most manufacturing settings. This system could be beneficial in the manufacturing sector in areas such as polymer welding and spray painting. In the former it could be used to maintain an effective distance between a welding end effector laying molten plastic and the surface area of the parts being welded, or in the case of the latter the system would be useful in painting objects of unknown shape or objects with unknown variations in the surface level. In the case of spray painting if you spray to close to an object you will get an inconsistent amount of paint applied to an area. This system would maintain the programmed distance between the robot system and target object. Typically, systems that achieve this level of control rely on expensive sensors such as force torque sensors. This research proposes to take the first step in trying to address the technical problems by introducing a novel way of adapting to a target surface deformation using comparably low cost photoelectric diffuse sensors. The key outcomes of this thesis can be found in the form of a software package to interface the photo-electric sensors to the KUKA robot system. This system is operated by a custom-built algorithm which is capable of dynamically calculating robot movements based off the sensor input. Additionally, an optimum system setup is developed with different configurations of sensor mounting and speeds of robot operation discussed and tested. The viability of the photo-electric diffuses sensors used in this application is also considered with further works suggested. Finally, a secondary application is developed for recording and analysing KUKA robot movements for use in other research activities. E-Thesis Swansea Robot, Robotics, Kuka, Robot Sensor Interface, RSI, Photoelectric, sensors 8 12 2021 2021-12-08 ORCiD identifier: https://orcid.org/0000-0002-3182-7129 COLLEGE NANME COLLEGE CODE Swansea University Griffiths, Christian A. ; Fahmy, Ashraf Master of Research MSc by Research ASTUTE2020 2021-12-08T13:24:01.9221683 2021-12-08T13:07:25.3653402 Faculty of Science and Engineering School of Engineering and Applied Sciences - Uncategorised ADAM MORGAN 1 58973__21837__50026ad955c8456597da275c4da7e46b.pdf Morgan_Adam_J_MSc_by_Research_Thesis_Final_Redacted_Signature.pdf 2021-12-08T13:17:06.1513785 Output 4917624 application/pdf E-Thesis – open access true Copyright: The author, Adam J. Morgan, 2021. true eng
title Design and testing of a position adaptation system for KUKA robots using photoelectric sensors
spellingShingle Design and testing of a position adaptation system for KUKA robots using photoelectric sensors
ADAM MORGAN
title_short Design and testing of a position adaptation system for KUKA robots using photoelectric sensors
title_full Design and testing of a position adaptation system for KUKA robots using photoelectric sensors
title_fullStr Design and testing of a position adaptation system for KUKA robots using photoelectric sensors
title_full_unstemmed Design and testing of a position adaptation system for KUKA robots using photoelectric sensors
title_sort Design and testing of a position adaptation system for KUKA robots using photoelectric sensors
author_id_str_mv 569cb68a944ac55e49f0c418bfef7eb2
author_id_fullname_str_mv 569cb68a944ac55e49f0c418bfef7eb2_***_ADAM MORGAN
author ADAM MORGAN
author2 ADAM MORGAN
format E-Thesis
publishDate 2021
institution Swansea University
college_str Faculty of Science and Engineering
hierarchytype
hierarchy_top_id facultyofscienceandengineering
hierarchy_top_title Faculty of Science and Engineering
hierarchy_parent_id facultyofscienceandengineering
hierarchy_parent_title Faculty of Science and Engineering
department_str School of Engineering and Applied Sciences - Uncategorised{{{_:::_}}}Faculty of Science and Engineering{{{_:::_}}}School of Engineering and Applied Sciences - Uncategorised
document_store_str 1
active_str 0
description This thesis presents the development and analysis of a position monitoring and adaptation system to be used in conjunction with a KUKA KR16-2 articulated robot using components readily available in most manufacturing settings. This system could be beneficial in the manufacturing sector in areas such as polymer welding and spray painting. In the former it could be used to maintain an effective distance between a welding end effector laying molten plastic and the surface area of the parts being welded, or in the case of the latter the system would be useful in painting objects of unknown shape or objects with unknown variations in the surface level. In the case of spray painting if you spray to close to an object you will get an inconsistent amount of paint applied to an area. This system would maintain the programmed distance between the robot system and target object. Typically, systems that achieve this level of control rely on expensive sensors such as force torque sensors. This research proposes to take the first step in trying to address the technical problems by introducing a novel way of adapting to a target surface deformation using comparably low cost photoelectric diffuse sensors. The key outcomes of this thesis can be found in the form of a software package to interface the photo-electric sensors to the KUKA robot system. This system is operated by a custom-built algorithm which is capable of dynamically calculating robot movements based off the sensor input. Additionally, an optimum system setup is developed with different configurations of sensor mounting and speeds of robot operation discussed and tested. The viability of the photo-electric diffuses sensors used in this application is also considered with further works suggested. Finally, a secondary application is developed for recording and analysing KUKA robot movements for use in other research activities.
published_date 2021-12-08T08:08:04Z
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score 11.070971

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