Integration of robotic inverse kinematic routines in an algorithmic 3D modeling software

Zhou, Liting (2016) Integration of robotic inverse kinematic routines in an algorithmic 3D modeling software. [Laurea], Università di Bologna, Corso di Studio in Ingegneria dell'automazione [L-DM270], Documento full-text non disponibile
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An industrial manipulator equipped with an automatic clay extruder is used to realize a machine that can manufacture additively clay objects. The desired geometries are designed by means of a 3D modeling software and then sliced in a sequence of layers with the same thickness of the extruded clay section. The profiles of each layer are transformed in trajectories for the extruder and therefore for the end-effector of the manipulator. The goal of this thesis is to improve the algorithm for the inverse kinematic resolution and the integration of the routine within the development software that controls the machine (Rhino/Grasshopper). The kinematic model is described by homogeneous transformations, adopting the Denavit-Hartenberg standard convention. The function is implemented in C# and it has been preliminarily tested in Matlab. The outcome of this work is a substantial reduction of the computation time relative to the execution of the algorithm, which is halved.

Tipologia del documento
Tesi di laurea (Laurea)
Autore della tesi
Zhou, Liting
Relatore della tesi
Correlatore della tesi
Corso di studio
Automation Engineering
Ordinamento Cds
Parole chiave
Inverse kinematic problem,Indeustrial robotics
Data di discussione della Tesi
15 Luglio 2016

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