<p>Industrial automation system ability to ease factories and manufacturing applications by using advance technologies like robot has gone beyond replacing manually practiced jobs but to the integration of machines and materials for time and cost efficiency. Today the robot receives almost utmost degree of significance in automation process in all fields of manufacturing systems. Robots as flexible tool that can carry varieties of tasks with great accuracy, speed and durability make its way to every possible application that done manually or hard automation in the pass. Number one advantage robot has outnumbered the other candidates as an automation choice is ability to clearly run the process in simulation and offline programming which is a proper solution to save time and money. This thesis report discusses the automation process of car seat cushion moulding clips mounting. It discusses how robot simulation answers questions concerning the cushion clips mounting. A ROBCAD simulation is conducted and a work cell with selected robot is simulated. Methods for selection of the robot are presented and robot work cell is built the robot performance and results are presented at the beginning. A clip mounting gripper is developed and a discussion of the actuation system is given. The thesis also entitled discussions in parts that considered completion of the robot work cell these parts are parts feeding system and the tracking of the moving work object.</p>

Industrial automation system ability to ease factories and manufacturing applications by using advance technologies like robot has gone beyond replacing manually practiced jobs but to the integration of machines and materials for time and cost efficiency. Today the robot receives almost utmost degree of significance in automation process in all fields of manufacturing systems. Robots as flexible tool that can carry varieties of tasks with great accuracy, speed and durability make its way to every possible application that done manually or hard automation in the pass. Number one advantage robot has outnumbered the other candidates as an automation choice is ability to clearly run the process in simulation and offline programming which is a proper solution to save time and money. This thesis report discusses the automation process of car seat cushion moulding clips mounting. It discusses how robot simulation answers questions concerning the cushion clips mounting. A ROBCAD simulation is conducted and a work cell with selected robot is simulated. Methods for selection of the robot are presented and robot work cell is built the robot performance and results are presented at the beginning. A clip mounting gripper is developed and a discussion of the actuation system is given. The thesis also entitled discussions in parts that considered completion of the robot work cell these parts are parts feeding system and the tracking of the moving work object.

Licentiatavhandling Linköping : Linköpings universitet, 2009.

Diss. Örebro : Univ., 2004.

<p>This thesis is a part of a larger project included in the European project, AFFIX. The reason for the project is to try to develop a new method to assemble an aircraft engine part so that the weight and manufacturing costs are reduced. The proposal is to weld sheet metal parts instead of using cast parts. A machine vision system is suggested to be used in order to detect the joints for the weld assembly operation of the sheet metal. The final system aims to locate a hidden curve on an object. The coordinates for the curve are calculated by the machine vision system and sent to a robot. The robot should create and follow a path by using the coordinates. The accuracy for locating the curve to perform an approved weld joint must be within +/- 0.5 mm. This report investigates the accuracy of the camera calibration and the positioning of the robot. It also brushes the importance of good lightning when obtaining images for a vision system and the development for a robot program that receives these coordinates and transform them into robot movements are included. The camera calibration is done in a toolbox for MatLab and it extracts the intrinsic camera parameters such as the distance between the centre of the lens and the optical detector in the camera: f, lens distortion parameters and principle point. It also returns the location of the camera and orientation at each obtained image during the calibration, the extrinsic parameters. The intrinsic parameters are used when translating between image coordinates and camera coordinates and the extrinsic parameters are used when translating between camera coordinates and world coordinates. The results of this project are a transformation matrix that translates the robots position into the cameras position. It also contains a robot program that can receive a large number of coordinates, store them and create a path to move along for the weld application.</p>

This thesis is a part of a larger project included in the European project, AFFIX. The reason for the project is to try to develop a new method to assemble an aircraft engine part so that the weight and manufacturing costs are reduced. The proposal is to weld sheet metal parts instead of using cast parts. A machine vision system is suggested to be used in order to detect the joints for the weld assembly operation of the sheet metal. The final system aims to locate a hidden curve on an object. The coordinates for the curve are calculated by the machine vision system and sent to a robot. The robot should create and follow a path by using the coordinates. The accuracy for locating the curve to perform an approved weld joint must be within +/- 0.5 mm. This report investigates the accuracy of the camera calibration and the positioning of the robot. It also brushes the importance of good lightning when obtaining images for a vision system and the development for a robot program that receives these coordinates and transform them into robot movements are included. The camera calibration is done in a toolbox for MatLab and it extracts the intrinsic camera parameters such as the distance between the centre of the lens and the optical detector in the camera: f, lens distortion parameters and principle point. It also returns the location of the camera and orientation at each obtained image during the calibration, the extrinsic parameters. The intrinsic parameters are used when translating between image coordinates and camera coordinates and the extrinsic parameters are used when translating between camera coordinates and world coordinates. The results of this project are a transformation matrix that translates the robots position into the cameras position. It also contains a robot program that can receive a large number of coordinates, store them and create a path to move along for the weld application.

Licentiatavhandling Luleå : Luleå tekniska universitet, 2007.

Lic.-avh. Linköping : Univ., 2005.

Diss. Örebro : Univ., 2004.

This project is the implementation and testing of a path tracker for a car-sized Unmanned Ground Vehicle. The vehicle, a Toyota Land Cruiser, was provided by SSC and hadpreviously been modified for remote operation. The developed path tracker uses a "follow the carrot" algorithm and has been writtenin C using the Robot Operating Software (ROS) framework and has been integrated intothe vehicles existing ROS powered software. During the implementation, the Gazebo rigid body simulator was used to simulate a simplified vehicle. Integration with the real sensors was performed using a small-scalecar, both indoors with the aid of a Vicon motion capture system and outdoors utilizingonly sensors available to the full-size car. The small-scale tests showed promise, howeverwhen full-scale field tests were performed the results showed some problems and reasonsfor these are discussed.