Software development for man-machine interface for an industrial robot

Cengiz, Mahir Cihan
In this study, a robotic software, which controls the robot, is developed. The robot considered is a six degree of freedom robot and it is designed and manufactured in METU. User can send the robot anywhere in space within its workspace, in any orientation. Forward and inverse kinamatics can be executed according to the needs. Simulation framework is embedded into the software for the 3D visualisation of the robot. Any movements can be simulated on the screen. Software also generates the path for the given points. Then generated path is simulated on the screen. All position, velocity and acceleration graphics of joints can be examined for the generated path.


Implementation of a closed-loop action generation system on a humanoid robot through learning by demonstration
Tunaoğlu, Doruk; Şahin, Erol; Department of Computer Engineering (2010)
In this thesis the action learning and generation problem on a humanoid robot is studied. Our aim is to realize action learning, generation and recognition in one system and our inspiration source is the mirror neuron hypothesis which suggests that action learning, generation and recognition share the same neural circuitry. Dynamic Movement Primitives, an efficient action learning and generation approach, are modified in order to fulfill this aim. The system we developed (1) can learn from multiple demonstr...
A behavior based robot control system architecture for navigation environments with randomly allocated walls
Altuntaş, Berrin; Alpaslan, Ferda Nur; Department of Computer Engineering (2003)
Integration of knowledge to the control system of a robot is the best way to emerge intelligence to robot. The most useful knowledge for a robot control system that aims to visit the landmarks in an environment is the enviromental knowledge. The most natural representation of the robot2s environment is a map. This study presents a behavior based robot control system architecture that is based on subsumption and motor schema architectures and enables the robot to construct the map of the environment by using...
Intelligent gait control of a multilegged robot used in rescue operations
Karalarlı, Emre; Erkmen, Aydan Müşerref; Erkmen, İsmet; Department of Electrical and Electronics Engineering (2003)
In this thesis work an intelligent controller based on a gait synthesizer for a hexapod robot used in rescue operations is developed. The gait synthesizer draws decisions from insect-inspired gait patterns to the changing needs of the terrain and that of rescue. It is composed of three modules responsible for selecting a new gait, evaluating the current gait, and modifying the recommended gait according to the internal reinforcements of past time steps. A Fuzzy Logic Controller is implemented in selecting t...
Kinematic calibration of industrial robots using full pose measurements and optimal pose selection
Yurttagül, Berk; Konukseven, Erhan İlhan; Department of Mechanical Engineering (2010)
This study focuses on kinematic calibration of industrial robots. Kinematic modeling, parameter identification and optimal pose selection methods are presented. A computer simulation of the kinematic calibration is performed using generated measurements with normally distributed noise. Furthermore, kinematic calibration experiments are performed on an ABB IRB 6600 industrial robot using full pose measurements taken by a laser tracking system. The kinematic model of the robot is developed using the modified ...
Optimal control of a half circular compliant legged monopod
Özkan Aydın, Yasemin; Leblebicioğlu, Mehmet Kemal; Saranlı, Afşar; Department of Electrical and Electronics Engineering (2013)
Legged robots have complex architecture because of their nonlinear dynamics and unpredictable ground contact characteristics. They can be also dynamically stable and exhibit dynamically dexterous behaviors like running, jumping, flipping which require complex plant models that may sometimes be difficult to build. In this thesis, we focused on half circular compliant legged monopod that can be considered as a reduced-order dynamical model for the hexapod robot, called RHex. The main objective of this thesis ...
Citation Formats
M. C. Cengiz, “Software development for man-machine interface for an industrial robot,” M.S. - Master of Science, Middle East Technical University, 2003.