Master Thesis - Hochschule Bonn-Rhein-Sieg

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7. Conclusion and Outlook Master Thesis Björn Ostermann page 116 of 126 7.2 Outlook During the course of this work, several points have been found that would improve the project and thus need further evaluation: - The depiction of the running algorithms need to be reprogrammed in OpenGL. This would allow a three dimensional depiction of the computed results to the operator, without additional computational effort. - The effort in the set-up of the system and the controlling of the developed program needs to be automated. - The problems induced by badly reflecting material (see chapter 3.2) need to be dealt with. One way to do this would be to detect “holes” in the workplace and treat them as intrusions as well. - The set-up of the transformation matrix (see chapter 5.5.2) could be automated, by giving the robot a reference block as a tool and using computer vision algorithms to find the position of the tool in the camera’s coordinate system. This would also allow the computation of a calibration matrix for the camera, because the positions delivered by the internal sensors of the robot are much more precise. - If the transformation matrix is automatically set up, the position of the robot base’s centre can be calculated as well (compare chapter 4.3.5). Its radius could be extracted from known physical parameters of the robot. - The distance between the robot and dynamic objects is currently calculated in the value “pixel” (see chapter 5.4). It needs to be advanced to show the real distance. - An aspect important to the feeling of safety is the speed and velocity of the robot, when it is approaching a human. This aspect, shown in previous work [77], was thoroughly investigated by Thiemermann [12]. The speed control in this work is only based on proximity (see chapter 5.4) and not on the direction of the robot’s movement. Further projects should include this direction into the speed calculation. - The height value of the robot’s tool centre used in the transformation of camera coordinates for path planning is fixed in the program (see chapter 5.5.2). It needs to be programmed as a flexible value.
7. Conclusion and Outlook Master Thesis Björn Ostermann page 117 of 126 - The increase in the safety distance, described in chapter 5.5.5, can be made dynamic, dependant on several factors: o The size of the robot’s current tool o The speed of the robot and of dynamic objects o The direction of the movement of robot and dynamic objects o The robot’s maximal physical dimension at that distance - The problem of the robot’s juddering in direct drive mode (see chapter 7.1) needs either to be fixed by the robot’s manufacturer or a workaround using the point to point mode needs to be programmed. - For the application in praxis, the safety controller of the robot would have to be included in the process of object avoidance. The basic function, necessary for the safety of the desired approach of a flexible fence, is already implemented by the safety trips of REIS [48]. They act as a virtual wall, through which the robot is not allowed to move. This could be used to secure a safe execution of the commands of the PC. Today those safety trips, in accordance with EN 10218-1 [70], can not be changed during the runtime of the control but only during its start-up phase, thus building a rigid fence. - The application of human models to the detected dynamic intrusions would allow the algorithms to predict occlusion of the workspace in the future. This would enable the path planning algorithm to compute more optimal trajectories. The proximity monitoring, which needs to be safe, can not profit from predictions. - Previous work discussed the usage of splines to smoothen the robot’s trajectory. Field tests in this work showed that those splines were not helpful, due to the slow movement of the robot and the problems with a smooth driving (juddering – see above). Later versions of this project should study this subject further, after the removal of the juddering.
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Master Thesis ”Industrial jointed
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Statutory Declaration Master Thesis
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Contents Master Thesis Björn Oster
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1. Introduction Master Thesis Björ
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2. Overview on human-robot Master T
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3. Hard- and software Master Thesis
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5. Algorithms Master Thesis Björn
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Master Thesis - Hochschule Bonn-Rhein-Sieg

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