Design and calibration of a multi-robot work cell
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)...
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| Formato: | masterThesis |
| Idioma: | eng |
| Publicado em: |
2015
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| Texto completo: | http://hdl.handle.net/10316/29497 |
| País: | Portugal |
| Oai: | oai:estudogeral.sib.uc.pt: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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