Master Thesis - Hochschule Bonn-Rhein-Sieg

More documents

Recommendations

Info

2. Overview on human-robot Master Thesis Björn Ostermann page 18 of 126 From the data about the robot’s actual position and the actual position of all other intrusions, a speed control and a path planning has to be developed.
3. Hard- and software Master Thesis Björn Ostermann page 19 of 126 3 Description of the hard- and software To achieve the desired goal, a robot avoiding dynamic objects, in addition to the robot further hard- and software is needed, as Figure 4 shows. PC Control Program Data Processing Control Commands Data Acquisition 3d Camera Robot Control Panel Control Commands Control Commands Figure 4: Hard- and software, necessary for the approach from chapter 2.3.2 The complete assembly consists of: - robot PLC Safety Controller Control Cabinet - control cabinet, housing the robot’s programmable logic controller (PLC) and a safety controller - control panel - 3D Camera - PC - controlling program The controlling program, running on the PC, is collecting data from the 3D camera, build by Mesa Imaging AG, processing this data and sending controlling commands to a PLC according to the computed results. The PLC controls the robot, as long as the control panel sends an approval signal. All the time, the reduced speed of the robot is monitored by the Esalan-SafetyController, by ELAN, which was developed in cooperation with REIS and the BGIA [54]. A detailed diagram, showing the connection between the PC and the robot, respectively the PC and the camera, can be found in chapter 3.6.
Page 1 and 2: Master Thesis ”Industrial jointed
Page 3 and 4: Statutory Declaration Master Thesis
Page 5 and 6: Contents Master Thesis Björn Oster
Page 7 and 8: Master Thesis Björn Ostermann page
Page 9 and 10: 1. Introduction Master Thesis Björ
Page 11 and 12: 2. Overview on human-robot Master T
Page 17: 2. Overview on human-robot Master T
Page 21 and 22: 3. Hard- and software Master Thesis
Page 33 and 34: 4. Overall evading concept Master T
Page 59 and 60: 5. Algorithms Master Thesis Björn
Page 69 and 70:
5. Algorithms Master Thesis Björn
Page 71 and 72:
Page 73 and 74:
Page 75 and 76:
Page 77 and 78:
Page 79 and 80:
Page 81 and 82:
Page 83 and 84:
Page 85 and 86:
Page 87 and 88:
Page 89 and 90:
Page 91 and 92:
Page 93 and 94:
Page 95 and 96:
Page 97 and 98:
Page 99 and 100:
Page 101 and 102:
6. Evaluating the safety Master The
Page 103 and 104:
Page 105 and 106:
Page 107 and 108:
Page 109 and 110:
Page 111 and 112:
Page 113 and 114:
Page 115 and 116:
7. Conclusion and Outlook Master Th
Page 117 and 118:
7. Conclusion and Outlook Master Th
Page 119 and 120:
8. Bibliography Master Thesis Björ
Page 121 and 122:
8. Bibliography Master Thesis Björ
Page 123 and 124:
9. List of Figures Master Thesis Bj
Page 125 and 126:
9. List of Figures Master Thesis Bj
show all

Master Thesis - Hochschule Bonn-Rhein-Sieg

You also want an ePaper? Increase the reach of your titles

Delete template?

Save as template?