Development of a robotic system for switchgear cabling

Shaiakhmetov, Ruslan (2022) Development of a robotic system for switchgear cabling. [Laurea magistrale], Università di Bologna, Corso di Studio in Automation engineering / ingegneria dell’automazione [LM-DM270], Documento full-text non disponibile
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Industrial robots are an inalienable part of modern automated production. Typical applications of robots include welding, painting, (dis)assembly, packaging, labeling, palletizing, pick and place and others. Many of that applications includes object manipulation. If the shape and position of the object are known in advance, it is possible to design the trajectory of the robot’s end-effector to take and place. Such a strategy is applicable for rigid objects and widely used in the manufacturing field. But flexible (deformable) objects can change their shape and position upon contact with the robot’s end-effector or environment. That is the reason why the general approach is unacceptable. It means that the robot can fail to grasp such an object and can’t place it in the desired position. This thesis has addressed the problem of cable manipulation by bilateral robotic setup for the industrial manufacturing of electrical switchgear. The considered solution is based on the idea of tensioned cable. If the cable was grasped by the ends and tensioned, it has a line shape. Since the position of the robot’s end-effectors known, the position of the cable is known as well. Such an approach is capable to place cable in cable ducts of switchgear. The considered solution has been tested experimentally on a real bilateral robotic setup.

Tipologia del documento
Tesi di laurea (Laurea magistrale)
Autore della tesi
Shaiakhmetov, Ruslan
Relatore della tesi
Correlatore della tesi
Corso di studio
Ordinamento Cds
Parole chiave
UR5,ROS,DLO,GJK,Deformable Object Manipulation
Data di discussione della Tesi
5 Ottobre 2022

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