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The Graphic Authoring Platform of Screenplays for Robotic Puppet ShowsSiao, Jhih-Jhong 12 September 2012 (has links)
With the development of the network, people are increasingly used to exchanging information on the Internet. Therefore, the capability of robot controller
should not be limited to control robots locally. The objective of this thesis is to provide a system, the screenplay based performance platform of Robotic puppet shows (SBPP), commanding multiple robots; each robot performing its own role based on a script composed by the developed authoring tool. Wherever and whenever a user wants to use SBPP, he/she just needs connect to the network and begins to design a script. SBPP consists of three parts: the graphic authoring platform (GAP) of screenplays for robotic puppet shows, the screenplay interpreter (SI) for
multi-morphic robots, and robots themself. The work of this thesis is concentrated on the implementation of the GAP and robots (model: DARwIn-OP) control. The GAP provides options for a variety of robots to users. The users can easily design their own robot scripts merely by drag-and-drop operating on icons representing the actions, behavior, and short scripts, respectively. Whenever a script is created or updated, GAP will automatically save the script as an XML file format internally. In addition, robots can be conducted to express their emotions orally by utter the lines composed. The system is demonstrated by a play of ¡§do-as-I-do¡¨ and recoded in a video at YouTube:¡¨
http://www.youtube.com/watch?v=v8ErTOgAQSo¡¨.
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Development and Characterization of an Interprocess Communications Interface and Controller for Bipedal RobotsBurton, James David 18 January 2016 (has links)
As robotic systems grow in complexity, they inevitably undergo a process of specialization whereby they separate into an array of interconnected subsystems and individual processes. In order to function as a unified system, these processes rely heavily on interprocess communications (IPC) to transfer information between subsystems and various execution loops. This thesis presents the design, implementation, and validation of the Valor ROS Controller, a hybrid IPC interface layer and robot controller. The Valor ROS Controller connects the motion control system, implemented with the internally created Bifrost IPC, developed by Team VALOR for the DARPA Robotics Challenge (DRC) with the high level software developed by Team ViGIR that uses the Robot Operating System (ROS) IPC framework. The Valor ROS Controller also acts as a robot controller designed to run on THOR and ESCHER, and is configurable to use different control modes and controller implementations. By combining an IPC interface layer with controllers, the Valor ROS Controller enabled Team VALOR to use Team ViGIR's software capabilities at the DRC Finals.
In addition to the qualitative validation of Team VALOR competing at the DRC Finals, this thesis studies the efficiency of the Valor ROS Controller by quantifying its computational resourceful utilization, message pathway latency, and joint controller tracking. Another contribution of this thesis is the quantification of end-effector pose error incurred by whole-body motions. This phenomenon has been observed on both THOR and ESCHER as one of their arms moves through a trajectory, however, it has never been studied in depth on either robot. The results demonstrate that the Valor ROS Controller adequately uses computational resources and has message latencies in the order of 50 ms. The results also indicate several avenues to improve arm tracking in Team VALOR's system. Whole-body motions account for approximately 5 cm of the end-effector pose error observed on hardware when an arm is at near full extension. / Master of Science
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Development Feasibility of a Universal Industrial Robot/Automation Equipment ControllerDick, Andrew B. 14 April 2006 (has links)
No description available.
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New encapsulation concept for robot controller cabinet / Nytt inkapslingskoncept för robotstyrskåpGuo, Siyu January 2020 (has links)
Robot controller cabinets are specified with interfaces which make it possible to connect different modules for completing numerous tasks that are chosen for the robot manipulators. Different interfaces will be utilized depend on the kind of tasks and settings that are chosen. Thus not every interface will be put into use in a controller cabinet, some are left behind. In order to fulfill the encapsulation standards of electrical enclosures, the unoccupied interfaces are covered and sealed with on-screwed cover plates and gaskets during the assembly of the cabinet. However, a new method for encapsulation hope to be investigated and introduced to improve the current solution with respect to the encapsulation requirements from ABB. The introduced new solution is a knockout concept. The detailed design is investigated with the help of finite element analysis with the explicit dynamics method used for simulating the punching processes of the knockout designs. Where three different design variables are put into consideration for finding the most optimum knockout design. The results show that, for the particular steel plate provided by ABB, a V-grooved knockout design with a grooving angle of 90 degrees and an unaffected thickness of 0.1 mm has the best performance in terms of smoothness at edges and the amount of plastic strain occurred in the material. Traditional manufacturing methods to manufacture the obtained knockout design appear to be extremely time consuming and thus not profitable for mass production. However, a type of fairly recent developed grooving machines, the so called V-grooving machine, is believed to be able to solve the manufacturing problem. / Robot styrskåp är specificerad med mängder gränssnitt vilket gör det möjligt för anslutning av olika moduler till att kunna fullborda de uppgifterna valda för robot manipulatorerna. Olika gränssnitt utnyttjas beroende på den typ av arbetsuppgift och inställningar valda just för den. Därför kommer inte alla gränssnitt att kunna tas i bruk i ett styrskåp, vissa lämnas kvar. För att kunna uppfylla inkapslingsstandarden för elektriska kapslingar är dessa obesatta gränssnitt täckt och förseglat med påskruvad täckplåtar och packningar under montering av styrskåp. En ny inkapslingsmetod hoppas att kunna utredas och introduceras till att förbättra den nuvarande lösningen med avseende på de inkapslingskraven från ABB. Den introducerade lösningen är ett knockout koncept. En detaljerad konstruktion undersöks med hjälp av finita element analys med explicit dynamik som grunden till att simulera knockout processer. Där tre olika design parametrar tas i beaktande för att hitta den mest optimala knockout konstruktionen. Resultaten visar sig att, för den här särskilda stålplåten som tillhandahålls av ABB, en V-spårad knockout konstruktion med en spårvinkel på 90 grader och en tjocklek på 0.1 mm har den mest tillfredställande prestandan med avseende på jämnhet, d.v.s. reduceringen av vassa kanter, och mängder av plastiska töjningar som inträffas i materialet efter knockout processen. Traditionella tillverkningsmetoder till att tillverka en sådan knockout konstruktion visar sig vara väldigt tidsödande och anses därför inte vara lönsamt för massproduktion. Emellertid upptäcks det en typ av relativt nyutvecklad spårmaskin, så kallad V-grooving machine, som tros att kunna lösa tillverkningsproblemet.
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Improving the user experience of touchscreen text-based code editor in an industrial robot controller / Förbättring av användarupplevelsen för textbaserad kodredigerare med pekskärm i en industriell robotkontrollerXu, Xuanling January 2023 (has links)
This project investigated the touchscreen text-based code editor in OmniCore FlexPendant to improve its usability and user experience. This is a powerful but complex application used to program industrial robots. The objective is to redesign the user interface and interactions to make them more userfriendly and intuitive, with the goal of improving efficiency. The principles for designing complex applications and touchscreen products are generated as an outcome. From an academic standpoint, the research aims to fill the gap in text-based code editors for robot controller design and inspire touchscreen code editor design in other fields. Design thinking served as the framework for the design process, which encompassed seven steps that ranged from exploration to conceptualization and user testing. Guidance for improvement is ideated by ’become a user,’ competitive analysis, and user studies. In the design phase, a high-fidelity prototype is built upon the original design with completely new interfaces, structures, and interactions. The user experience and usability are evaluated during user testing by counting task completion time, applying two standard user experience measurements, and conducting a brief interview. The results indicate that the new design achieved better completion efficiency in tasks, better user experience and usability scores, and received positive feedback from participants. The new solution meets the objectives and is considered a good reference for the design of industrial robot programming solutions. / Denna studie undersökte den pekskärm- och textbaserade kodeditorn i OmniCore FlexPendant, för att förbättra dess användbarhet och användarupplevelse. Det är en kraftfull men komplex applikation som används för att programmera industrirobotar. Målet är en omarbetning av användargränssnittet och interaktionerna för att göra dem mer användarvänliga och intuitiva, med målet att förbättra effektiviteten. Principerna för att utforma komplexa applikationer och pekskärmsprodukter genereras som ett resultat. Ur ett akademiskt perspektiv syftar forskningen till att fylla luckan gällande design av textbaserade kodeditor för robotkontroller, och inspirera vid designen av pekskärmsbaserade kodeditorer inom andra fält. ”Design thinking” tjänade som ramverk för designprocessen, vilken omfattade sju steg som sträckte sig från utforskning till konceptualisering och användartestning. Vägledning för förbättringar tas fram genom ”att vara en användare”, konkurrensanalys och användarstudier. I designfasen byggs en högupplöst prototyp baserat på den ursprungliga designen med helt nya gränssnitt, struktur och interaktioner. Användarupplevelsen och användbarheten utvärderas under användartestning genom att räkna tid, tillämpa två standardmått för användarupplevelse och genomföra en kort intervju. Resultaten visar att den nya designen uppnådde högre effektivitet i uppgifter, bättre användarupplevelse och högre användbarhetspoäng samt fick positiv feedback från deltagarna. Den nya lösningen uppfyller målen och anses vara en bra referens för design av lösningar för programmering av industrirobotar.
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