DEVELOPING COL LABORATIVE APPL ICATIONS USING THE KUKA IIWA

• Autor(a) principal: Pinto, Maildo Lopes
• Data de Publicação: 2021
• Tipo de documento: Dissertação
• Idioma: eng
• Título da fonte: Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos)
• Texto Completo: http://hdl.handle.net/10400.8/6765
• topic: KUKA iiwa; Handguiding Device; Pick Up and Place; Force Feedback; Manipulation Application; Domínio/Área Científica::Engenharia e Tecnologia::Engenharia Eletrotécnica, Eletrónica e Informática

Developing applications for collaborative robots, like the KUKA iiwa, is a challenging task. These types of robots generally have a difficult architecture to interact with, and their programming language is not very user-friendly. In the Advanced Robotics and Smart Factories Laboratory of the Polytechnic Institute of Leiria, we have an industrial robot, model KUKA iiwa 7 800. The project described in this report was built in order to facilitate the development of robotic applications in the industry, based on the idea of interacting with the KUKA robot using a Multi-purpose Flange Adapter System, to perform a pick and place task and a Path Following with Force Feedback task. To do so, a device was developed consisting of two modules, each controlled by an ATmega microcontroller, and can communicate with each other by wire or wirelessly. The robot and device are linked with the KUKA control unit, using digital ports from a Beckhoff module. The conducted tests and the analysis of the results showed that the system worked as intended.