In this Master’s thesis we talk about the design of the robot cell for assembly of deformable objects. We are using a collaborative robot UR10e, with tools, which we designed specifically for this task. We created a control program based on ROS2. With ROS2 we are able to communicate between robot, control computer and peripheral units, such as cameras and microcontroller. We implemented the force and position verification into the control program. With the purpose of defining the correct forces for force verification, we took measurements of both force profile and position changes of the robot during the pick and place operation. At the end we also optimized the robot paths and assembly speed.
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