Design and calibration of a multi-robot work cell

Detalhes bibliográficos
Autor(a) principal: Sousa, Gil Boyé de
Data de Publicação: 2015
Tipo de documento: Dissertação
Idioma: eng
Título da fonte: Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos)
Texto Completo: http://hdl.handle.net/10316/29497
Resumo: The main objective of the work presented is the design of a robotic cell and its calibration. This robotic cell needs to be compact, flexible and collaborative. Concerning these constraints, an optimization work was performed using a numerical simulation software applied to industrial robots (V-REP). In addition to this, a calibration model was developed for this robotic cell using a single point laser measurement sensor. Two different methods were used to the calibration: one applied to define the position and orientation of the work-objects in the robotic cell and the other to determine the position and orientation of a cylindrical form.
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spelling Design and calibration of a multi-robot work cellRobotic cell designRobotic cell calibrationThe main objective of the work presented is the design of a robotic cell and its calibration. This robotic cell needs to be compact, flexible and collaborative. Concerning these constraints, an optimization work was performed using a numerical simulation software applied to industrial robots (V-REP). In addition to this, a calibration model was developed for this robotic cell using a single point laser measurement sensor. Two different methods were used to the calibration: one applied to define the position and orientation of the work-objects in the robotic cell and the other to determine the position and orientation of a cylindrical form.O objectivo deste trabalho consiste na concepção de uma célula robotizada e na sua calibração. Esta célula necessita ser compacta, flexível e colaborativa. Perante estas restrições foi realizado um trabalho de optimização utilizando um software de simulação numérica aplicado a robôs industriais (V-REP). Além disso, um modelo de calibração foi desenvolvido para esta célula robotizada utilizando um sensor laser de medida. Dois métodos diferentes foram usados para a calibração: um deles aplicado para definir a posição e orientação dos objectos na célula robotizada e outro para determinar a posição e orientação de uma forma cilíndrica.2015-09-25info:eu-repo/semantics/publishedVersioninfo:eu-repo/semantics/masterThesishttp://hdl.handle.net/10316/29497http://hdl.handle.net/10316/29497engSousa, Gil Boyé deinfo:eu-repo/semantics/openAccessreponame:Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos)instname:Agência para a Sociedade do Conhecimento (UMIC) - FCT - Sociedade da Informaçãoinstacron:RCAAP2022-01-20T17:49:03Zoai:estudogeral.uc.pt:10316/29497Portal AgregadorONGhttps://www.rcaap.pt/oai/openaireopendoar:71602024-03-19T20:58:55.256657Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos) - Agência para a Sociedade do Conhecimento (UMIC) - FCT - Sociedade da Informaçãofalse
dc.title.none.fl_str_mv Design and calibration of a multi-robot work cell
title Design and calibration of a multi-robot work cell
spellingShingle Design and calibration of a multi-robot work cell
Sousa, Gil Boyé de
Robotic cell design
Robotic cell calibration
title_short Design and calibration of a multi-robot work cell
title_full Design and calibration of a multi-robot work cell
title_fullStr Design and calibration of a multi-robot work cell
title_full_unstemmed Design and calibration of a multi-robot work cell
title_sort Design and calibration of a multi-robot work cell
author Sousa, Gil Boyé de
author_facet Sousa, Gil Boyé de
author_role author
dc.contributor.author.fl_str_mv Sousa, Gil Boyé de
dc.subject.por.fl_str_mv Robotic cell design
Robotic cell calibration
topic Robotic cell design
Robotic cell calibration
description The main objective of the work presented is the design of a robotic cell and its calibration. This robotic cell needs to be compact, flexible and collaborative. Concerning these constraints, an optimization work was performed using a numerical simulation software applied to industrial robots (V-REP). In addition to this, a calibration model was developed for this robotic cell using a single point laser measurement sensor. Two different methods were used to the calibration: one applied to define the position and orientation of the work-objects in the robotic cell and the other to determine the position and orientation of a cylindrical form.
publishDate 2015
dc.date.none.fl_str_mv 2015-09-25
dc.type.status.fl_str_mv info:eu-repo/semantics/publishedVersion
dc.type.driver.fl_str_mv info:eu-repo/semantics/masterThesis
format masterThesis
status_str publishedVersion
dc.identifier.uri.fl_str_mv http://hdl.handle.net/10316/29497
http://hdl.handle.net/10316/29497
url http://hdl.handle.net/10316/29497
dc.language.iso.fl_str_mv eng
language eng
dc.rights.driver.fl_str_mv info:eu-repo/semantics/openAccess
eu_rights_str_mv openAccess
dc.source.none.fl_str_mv reponame:Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos)
instname:Agência para a Sociedade do Conhecimento (UMIC) - FCT - Sociedade da Informação
instacron:RCAAP
instname_str Agência para a Sociedade do Conhecimento (UMIC) - FCT - Sociedade da Informação
instacron_str RCAAP
institution RCAAP
reponame_str Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos)
collection Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos)
repository.name.fl_str_mv Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos) - Agência para a Sociedade do Conhecimento (UMIC) - FCT - Sociedade da Informação
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