oru.sePublications
Change search
CiteExportLink to record
Permanent link

Direct link
Cite
Citation style
  • apa
  • ieee
  • modern-language-association-8th-edition
  • vancouver
  • Other style
More styles
Language
  • de-DE
  • en-GB
  • en-US
  • fi-FI
  • nn-NO
  • nn-NB
  • sv-SE
  • Other locale
More languages
Output format
  • html
  • text
  • asciidoc
  • rtf
Development and integration of a control system forflexible grippers
Örebro University, School of Science and Technology.
2010 (English)Independent thesis Advanced level (degree of Master (Two Years)), 20 credits / 30 HE creditsStudent thesis
Abstract [en]

Various robotic grippers support or even replace human beings on particular tasks, for example, different industrial applications. However, in some cases complex tasks are required and specifications of the industrial gripper should be more advanced. The adjustment for dynamic environment should be done automatically without a human intervention in a control process. The aim of this master’s project was to develop a control software system for given mechanical gripper prototype developed in the AASS research lab. Gripper control program was implemented by using Galil motion control hardware and Galil specific low-level programming language. Gripper was equipped with tactile sensors on fingertips to adjust a grasping behavior for objects with different shapes and sizes. In this thesis the control system for gripper device as well as its integration into the ``intelligent arm´´system was implemented. The ``intelligent arm´´system is an ABB IRB 140 industrial robotic manipulator with IRC5 controller and motion capture system installed in the AASS research lab. Communication between Galil and IRC5 controllers allowed the gripper to be managed by IRC5. On the other hand, gripper could communicate its condition into IRC5 and therefore affect the arm motions.

 

Place, publisher, year, edition, pages
2010. , p. 71
National Category
Engineering and Technology Computer and Information Sciences Computer Sciences Software Engineering
Identifiers
URN: urn:nbn:se:oru:diva-10592ISRN: ORU-NAT/DAT-AS-2010/0005--SEOAI: oai:DiVA.org:oru-10592DiVA, id: diva2:317585
Presentation
(English)
Uppsok
Technology
Supervisors
Examiners
Available from: 2010-05-04 Created: 2010-05-04 Last updated: 2018-01-12Bibliographically approved

Open Access in DiVA

fulltext(5562 kB)5212 downloads
File information
File name FULLTEXT02.pdfFile size 5562 kBChecksum SHA-512
e0d3c7c72e260ed0a22f493ed9d73beda692df2e732a2c4f3ea23a4af57f2de3c4a094b6070a1cc5b510724647f571a952663b95826b8c7974a7f001ca94d7f3
Type fulltextMimetype application/pdf

By organisation
School of Science and Technology
Engineering and TechnologyComputer and Information SciencesComputer SciencesSoftware Engineering

Search outside of DiVA

GoogleGoogle Scholar
Total: 5212 downloads
The number of downloads is the sum of all downloads of full texts. It may include eg previous versions that are now no longer available

urn-nbn

Altmetric score

urn-nbn
Total: 485 hits
CiteExportLink to record
Permanent link

Direct link
Cite
Citation style
  • apa
  • ieee
  • modern-language-association-8th-edition
  • vancouver
  • Other style
More styles
Language
  • de-DE
  • en-GB
  • en-US
  • fi-FI
  • nn-NO
  • nn-NB
  • sv-SE
  • Other locale
More languages
Output format
  • html
  • text
  • asciidoc
  • rtf