• norsk
    • English
  • norsk 
    • norsk
    • English
  • Logg inn
Vis innførsel 
  •   Hjem
  • Fakultet for informasjonsteknologi og elektroteknikk (IE)
  • Institutt for teknisk kybernetikk
  • Vis innførsel
  •   Hjem
  • Fakultet for informasjonsteknologi og elektroteknikk (IE)
  • Institutt for teknisk kybernetikk
  • Vis innførsel
JavaScript is disabled for your browser. Some features of this site may not work without it.

Anode Milling with an Industrial Robot Manipulator

Nese, Stian
Master thesis
Thumbnail
Åpne
350074_FULLTEXT01.pdf (1.171Mb)
350074_COVER01.pdf (48.02Kb)
350074_ATTACHMENT01.zip (11.17Mb)
Permanent lenke
http://hdl.handle.net/11250/259974
Utgivelsesdato
2010
Metadata
Vis full innførsel
Samlinger
  • Institutt for teknisk kybernetikk [2866]
Sammendrag
Force control of robot manipulators will be needed in the future to fulfill the potential of automated solutions. For this to be possible, adequate control systems for this special purpose are required. This thesis proposes an extension to an existing force control approach found in the literature, based on direct force control, for the use of an industrial ABB robot in anode milling operations. This report presents a control system that aims to exercise force control with a robot manipulator, in order to conduct effective carbon anode milling. The control structure proposed contains both a position controller and a velocity controller, in order to enhance the final result. Because there is a gap between the theory on robot force control and the features usually available on an industrial robot, this control system is modified to be directly implementable on a standard industrial ABB robot manipulator. Simulations, and subsequent comparison, of both this control system and a control system typically found in the industry, which is based on PID control of the milling tool power consumption, are conducted. ABB s Robot- Studio is used to perform the simulations, where models of the tool, anode and coke are used. From these simulations we see that the industrial PID controller performs very well, and that the newly proposed control approach does not quite reach the same level of performance.
Utgiver
Institutt for teknisk kybernetikk

Kontakt oss | Gi tilbakemelding

Personvernerklæring
DSpace software copyright © 2002-2019  DuraSpace

Levert av  Unit
 

 

Bla i

Hele arkivetDelarkiv og samlingerUtgivelsesdatoForfattereTitlerEmneordDokumenttyperTidsskrifterDenne samlingenUtgivelsesdatoForfattereTitlerEmneordDokumenttyperTidsskrifter

Min side

Logg inn

Statistikk

Besøksstatistikk

Kontakt oss | Gi tilbakemelding

Personvernerklæring
DSpace software copyright © 2002-2019  DuraSpace

Levert av  Unit