KUKA mobilis robotok mozgásanalízise szenzorinformációk alapján

Konzulens:
Dr. Kiss Bálint
Kölső konzuelns:
Komlósi István (KUKA Robotics)
External supervisor e-mail:
IstvanKomlosi@kuka-robotics.hu
Tárgy:
Önálló laboratórium 1 - Irányítórendszerek főspecializáció, MSc Vill.
Önálló laboratórium 2 - Irányítórendszerek főspecializáció, MSc Vill.
Önálló laboratórium 1 - Vizuális informatika főspecializáció, MSc Info.
Önálló laboratórium 2 - Vizuális informatika főspecializáció, MSc Info.
Hallgatói létszám:
1
Folytatás:
Szakdolgozat / Diplomaterv
TDK dolgozat
Leírás:

Motion Evaluation of KUKA Mobile Robots using Motion Capture or Indoor Positioning Systems

Motion quality of mobile robots in industrial applications where millimeter precision is required has very high impact value. Verifying that the mobile robot’s motion quality meets expectations is challenging. Furthermore, saving time for software releases by automating parts of the release testing can shorten delivery time and work time. Thus, a capture system should be found and applied to allow to measure motion quality and to automate system testing.

Use Cases

  • Measure if motion constraints are kept during motion and e-stops
  • Accuracy measurement of planned path and motion execution
  • Measure accuracy of repeated rack loads and unloads for logistics robots
  • Measure repeatability and total accuracy and robot arm movements of mobile platforms with robot arms 
  • Measure accuracy and repeatability of object detection + fine positioning
  • Automation of System Tests
In regards of Indoor Positioning systems, the market in the last years has grown and especially in terms of VR there are more and cheaper indoor tracking systems available, e.g. HTC vive. Using these systems would allow to run automated system tests with external evaluation. 

Work Packages for students

Step 1:
  • Evaluate market for motion capture and indoor positioning systems based on the requirements of our use case in our Budapest lab
  • Select potential solutions and verify with these companies if their system is applicable for our use case
  • Select one of the solutions
Step 2:
  • The selected solution should be applied in the Budapest Lab
  • A framework to automate a selected set of system tests for one of our robot types should be implemented (Java)

With this project a student can

  • gain knowledge and deep insight to industrial mobile robot systems
  • gain knowledge in sensor systems used for indoor tracking
  • gain knowledge of mobile robot motion planning and execution
  • learn how to integrate an external system to an already existing robotic solution
  • deepen programming knowledge and get acquainted with software technologies used for industrial mobile robot systems