Scenario Development for Industrial Robot Manipulator: Case Study in Processing Casted Metal Components

Abstract

The main objective of this master?s thesis was to identify the unknown parametersfor the 6th joint of robot manipulator IRB 140 and then create apassivity-based robust controller for controlling this joint.This report includes a brief introduction to modeling of robot manipulators,system identification, digital signal processing and passivity-based robustcontrollers.A simulation of the least squares method for the system identification modelis presented before the same method is used to estimate the unknown parametersfor IRB 140. Then a passivity-based robust controller is designedand tested for the 6th joint of IRB 140.From the experimental results it was discovered that the estimated parameterswere incorrect. It was revealed that the estimates of the unknownparameters have great influence on the passivity-based robust controller. Ifthe estimates are incorrect the accuracy of controller is poor. The controllerdesigned in this thesis was less precise than the ABB RobotStudio controller.To pick-and-place and process casted components it is important to haveforce and velocity limitations for the robot, so that it does not crush thecomponents or lose hold of them.