Industrial robots are the key role in modern manufacture. In order to allow different robots to perform the same task, they must be programmed manually which is time-consuming and cumbersome. The ability to transfer robotic skills between heterogeneous robots would provide significances to industry. This paper presents a prototype control architecture for industrial robots which allows multiple heterogeneous robots of different morphologies to perform the same task without manually programming each robot separately. We selected three articulated industrial manipulators with different degree of freedoms (Yaskawa Motoman HP3JC, Universal Robot UR5 and Rethink Robotics Baxter) to test our approach. Two simple assembly tasks were chosen for analysis and implementation. Results indicate that our approach works well with some errors. Maximum and average position mismatch errors for UR5 are 4.938 cm and 4.431 cm. For Baxter, maximum and average position mismatch errors are 8.8797 cm and 3.785 cm. Baxter has a different range of motion therefore some places could not be reached with it.
| Identifer | oai:union.ndltd.org:VANDERBILT/oai:VANDERBILTETD:etd-03272016-120106 |
| Date | 28 March 2016 |
| Creators | Li, Mengtang |
| Contributors | Don Mitch Wilkes, Richard Alan Peters |
| Publisher | VANDERBILT |
| Source Sets | Vanderbilt University Theses |
| Language | English |
| Detected Language | English |
| Type | text |
| Format | application/pdf |
| Source | http://etd.library.vanderbilt.edu/available/etd-03272016-120106/ |
| Rights | restrictsix, I hereby certify that, if appropriate, I have obtained and attached hereto a written permission statement from the owner(s) of each third party copyrighted matter to be included in my thesis, dissertation, or project report, allowing distribution as specified below. I certify that the version I submitted is the same as that approved by my advisory committee. I hereby grant to Vanderbilt University or its agents the non-exclusive license to archive and make accessible, under the conditions specified below, my thesis, dissertation, or project report in whole or in part in all forms of media, now or hereafter known. I retain all other ownership rights to the copyright of the thesis, dissertation or project report. I also retain the right to use in future works (such as articles or books) all or part of this thesis, dissertation, or project report. |
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