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Programming environment for path generation of manipulator systems of festo AG & Co. KG and its implementation

Kurt, Tarık Edip (2013) Programming environment for path generation of manipulator systems of festo AG & Co. KG and its implementation. [Thesis]

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Official URL: http://risc01.sabanciuniv.edu/record=b1534386 (Table of Contents)

Abstract

This thesis presents development and implementation of a programming environment for path generation of mechatronics systems. Our aim is to develop algorithms and a software framework to be used along with Festo Ag & Co. KG, industrial systems, by applying task level programming. In this thesis the user interface, the motion reference generation for different tasks and automatic uploading and execution in Festo real time mechatronics systems control environment are referred. The software consists of GUI, data management, functions that generate motion reference suitable for real time application within Festo control environment. Main focus and the contribution is the developed mathematical algorithms used for generation reference position and orientations for the manipulators and the GUI that allows multiple pattern and target definition. Algorithms and software are created for processing a 2D pattern to a 3D target object which has structure symmetric around an axis of rotation. The GUI accepts user defined object and patterns and automatically generates reference motion (tip position and orientation) for manipulator. The output files that specifies motion of overall system is then uploaded for real-time implementation. The user has a library of the primitive patterns that may be used in generating desired pattern. The developed software is tested on real system for heavy tires production.

Item Type:Thesis
Uncontrolled Keywords:Motion specification. -- Path generation. -- Industrial systems. -- Task level programming. -- Software framework. -- Hareket tanımlaması. -- Yörünge oluşturulması. -- Endüstriyel sistemler. -- Görev düzeyinde programlama. -- Yazılım çerçevesi.
Subjects:T Technology > TJ Mechanical engineering and machinery > TJ163.12 Mechatronics
ID Code:31331
Deposited By:IC-Cataloging
Deposited On:15 May 2017 10:46
Last Modified:15 May 2017 10:46

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