Real-time control of industrial robots for shape setting Nitinol rods

Most robots in industrial settings today rely on playback of precise pre-defined coordinates and do not adjust their motion using feedback from sensors. This thesis describes a system to implement real-time motion control of ABB Industrial robots through ROS (Robot Operating System), which enables general use for future experiments that control the robot arms using real-time feedback from force-torque sensors and/or computer vision. Additionally, these robots are used to bend a Nitinol rod into a desired shape and a hardware system has been built to shape-set Nitinol rods with Joule heating.

Name thesis:degree_name

M.S.

Level thesis:degree_level

Thesis

Discipline thesis:degree_discipline

Computer Science

Grantor

University of Illinois at Urbana-Champaign

Year dc:date

2018

Author dc:creator

• Ehrat, Braden M.

Contributors dc:contributor

• Bretl, Timothy

• ASEA Brown Boveri (ABB)
• Industrial
• Robots
• Robot operating system (ROS)
• Nitinol

Statement dc:rights

• Copyright 2017 Braden Ehrat

Language dc:language

en

Handle dc:identifier

http://hdl.handle.net/2142/99427

OAI identifier oai:identifier

oai:www.ideals.illinois.edu:2142/99427