Beta 1

Title Imaging Robot
Author Stets, Jonathan Dyssel
Supervisor Aanæs, Henrik (Image Analysis and Computer Graphics, Department of Informatics and Mathematical Modeling, Technical University of Denmark, DTU, DK-2800 Kgs. Lyngby, Denmark)
Institution Technical University of Denmark, DTU, DK-2800 Kgs. Lyngby, Denmark
Thesis level Bachelor thesis
Year 2010
Abstract This thesis is focuses on designing an interface to control an industrial robot, with the goal of making it applicable for imaging. This can be done by creating two interfaces which will communicate together with a Command File, a file that contains the coordinates and directions of the robot arm. One of the interfaces, programmed in C++, works as a hardware and client interface. This interface controls the robot, light sources and an attached camera. The other interface, programmed in Matlab, controls the calculations of the robot arm coordinates and directions, and includes a graphic representation of how the robot will move. A library of functions for robot motions has been created; and the challenge has been to make the robot move on the surface of a sphere and to secure it from collisions with the surroundings or obstacles. The results show that it has been an adequate solution to create the interface with this architecture and consequently made the robot more accessible and easier to control.
Imprint Technical University of Denmark (DTU) : Kgs. Lyngby, Denmark
Series IMM-B.Sc.-2010-42
Original PDF bac10_42.pdf (3.03 MB)
Admin Creation date: 2011-01-03    Update date: 2011-01-03    Source: dtu    ID: 271973    Original MXD