Picker robots are often mounted close to each other above a conveyor belt. To be able topack robots even closer, it is desirable to reduce the footprint of the robot?s base. One way toachieve this is to skew the arms of the robot which makes it possible to move them closer toeach other.This Master Thesis has been carried out at ABB Corporate Research. The purpose is toevaluate the benefits and drawbacks for the idea of making today?s Picker robot morecompact by skewing the arms.

Today all buildings contain some form of home automation. It might be heating controlled by athermostat or motion detectors controlling outdoor lighting.This paper,The Intelligent House, deals with the planning of a house in Kiruna, in the north ofSweden and further immerses itself in home automation or intelligent control in single-familyhomes. The house has been entirely planned, from layout to structural design and plumbing.The purpose of the paper has been to investigate the possibilities in home automation in singlefamilyhomes and to choose a suitable home automation system for the house being planned.The system has been designed and the costs and energy savings have been calculated.The system chosen for the house is called KNX and is the largest system for home automation inSweden. It is used to control heating, ventilation, lighting and alarm systems in the house. Is hasbeen found that KNX is very expensive and that the amount of energy, possible to save in thehouse, using the system, is relatively small.

Denna rapport behandlar utveckling av en tvåhjulig balanserande robot. En PID-regulator är implementerad i en mikrokontroller, som även AD-omvandlar en sensorsignal, samt styr motorer via H-bryggor med pulsbreddsmodulering. I rapporten förklaras framtagning av diskret PID-regulator, processorkort, motorkort, val av komponenter och sensor för att mäta robotens vinkel mot ett vertikalplan.Roboten kan balansera stillastående, men behöver kompletteras ytterligare med hjulåterkoppling för att kunna balansera medan den kör. Roboten balanserar med mätdata från en mekanisk golvavkännare (potentiometer). Andra sorters sensorer diskuteras också, t ex accelerometer, gyro och optisk sensor..

Due to the globalization today the competition in the market has in- creased and it requires flexibility and produce according to customer demand. In order to reduce the cost of wages industrial companies are now considering moving the manufacturing to low-cost countries. To keep up with the competition in the market without moving the manu- facturing abroad, Lean Automation was developed. The concept of Lean Automation is to reduce the perceived complexity with automa- tion and make automation available for new users and in new applica- tions.Haldex Brake Products are situated in Sweden and want to maintain the manufacturing of the automatic brake adjusters in the country. It is a product well-known and highly exposed to the competition in the mar- ket.

Detta arbete tar upp utvecklingen av ett nytt protokoll för användning inom Home Automation över IP-nätverk, med stor vikt på flexibilitet och enkelhet. Vi valde att utveckla ett nytt protokoll för Home Automation då en granskning av dagens protokoll visar att dessa inte är tillräckligt öppna eller flexibla för att passa alla enheter som används eller alla scenarion som kan uppstå.I våra litteraturstudier samlades information in som skapade grunderna för vårt protokoll och gav oss en större inblick i teknikerna bakom dagens tekniker inom home automation. Detta gav oss även möjlighet att senare jämföra vårt färdiga protokoll med redan existerande protokoll för att se om vi lyckats skapa något som kan användas. Metoden vi valde för att utveckla protokollet är en generell designmetod där vi efter granskningen av tidigare protokoll tar fram ett antal punkter som det nya protokollet skall uppnå. Det visade sig dock vara problematiskt att få fram svar om vissa protokoll så vi frångick metoden genom att istället utveckla protokollet utefter ett antal olika scenarion som det bör kunna hantera.Resultatet av arbetet är ett protokoll som uppfyllde nästan alla mål vi satt upp för det.

This thesis work resulted in a template for how the thermal spray process can be controlled through robot programs. The robots today and their programs need to be replaced, therefore a new structure which can be matched with the new robot systems is needed. The work is limited to only concern structured programming on the new robots on Thermal Spray Centre (TC) with the programming language Rapid. The basic data for the program was retrieved from interviews with concerned personnel at TC, from studies on process parameters for thermal spray and from existing specifications at Volvo Aero Corporation (VAC). The thesis work briefly describes the process thermal spray and the four methods used at VAC.

The use of vision applications are growing and the demand for integration and connectivity with other industrial automation control devices is increasing. Some businesses that are using vision technology follow US Food and Drugs Administration (FDA) regulation concerning audit trail. This thesis investigates the possibility to use vision technology for counting objects, achieving connectivity and to follow FDAs audit trail regulation. A market survey has been used to select suitable hardware and software to be used in the design of an application that is able to count objects and that uses standard industrial network connection i.e. OPC data access and Microsoft?s .NET components over Ethernet.

Det finns flera fördelar med robotiserad bågsvetsning jämfört med manuell bågsvetsning. När det gäller produktivitet och repeterbarhet är robot överlägsen människa, vilket gör att produkterna håller jämnare kvalitet. I slutet av 80-talet började offline-programmering att tillämpas. Att programmera en robot offline innebär att utföra programmeringen med dator utan direkt tillgång till roboten. Genom simulering visualiseras ett robotprogram i en grafisk modell av den fysiska robotcellen utan att den fysiska roboten behöver tas ur produktion.

Traditionally, mining has been performed mechanically with implementation ofyesterdays (and older) data. Several mining companies have started to useautonomous technology and robotics in the production areas although the harshmining environments make it unsuitable for today's electronic equipment. Despite allthe obstacles along the way of digitization, there seems to be no end in sight as thisdevelopment continues. This thesis focuses on what the mining industry is aiming forand why the mining companies are interested in these technologies. The actors of themining industry can be found to have a vision for the future mine, a production with ahigher degree of digitization and resemblances to a factory.

The goal of this Master thesis has on the one hand been to create a simulation environment for robots, where not only the simulations in this work can be performed, but also similar robot simulations, and on the other hand to study regulators that can increase the possibilities of rejecting disturbances on an industrial robot. The robot model used has three degrees of freedom, corresponding to the three main links on ABB:s IRB7600. The simulation environment is created using Matlab, Simulink, and Robotics Toolbox. It is constructed in a general way and can be used for simulations of other robot objects created in Robotics Toolbox. A gain scheduling is added to the LQ-regulator, where the feedback matrix is varied depending on the arm position in the workspace.

ITT Water & Wastewater ställer höga krav på kostnadseffektiv produktion vilket är en starkt bidragande orsak till att företaget är världsledande på sin marknad. För att erhålla kostnadseffektiv produktion har kombinationen människa robot visat sig vara framgångsrik.Examensarbetets syfte var att ta fram underlag åt ITT Water & Wastewater för att ta beslut om frigörande av indirekt personal vid line 15:s isoleringsstation på Elmotorverkstaden. Syftets uppfyllande stöttades av de underbyggande syftena att försöka höja robotens utnyttjandegrad samt reducera isoleringsmaskinens omställningstid.Arbetet bygger på kvalitativa och kvantitativa data i form av mätningar, intervjuer och egna observationer. Med stöd av erhållen data lyftes fyra olika förslag fram. Förslagen understryktes bland annat av integrering av arbetsmoment, förhöjd automatiseringsgrad och outsourcing..

This bachelor thesis describes the process of developing a two wheeled robot with activebalancing. The robot is designed to go straight ahead until it reaches a finish line. Then it shallstop to stand still balancing. The workload in the group has been divided according to theprevious individual projects, which are attached. The design of the robot is inspired by theconcept of the Segway.

This thesis has treated a three-axis robot which task is to serve a larger test machine tomove the modules to be tested, from the storage to the test site. The robot is composed ofthree linear actuators; two standard components of ball screw type and a custom-builtactuator of trapezoidal type. The work has mainly focused on the custom-built device to seeif it could be replaced with a standard component. Part of the work has been to look into thepicking tool and to see if there are any possibilities to improve its function.The report presents two different proposals which I decided to call Robot 1 and Robot 2 andthey aim to address the problems arising in the purpose-built linear unit and the X-axislinearity problems. Robot 1 focuses on eliminating the problems that arise around therobot's X-axis, with such simple means as possible and without making excessive materialchanges.

This field study examined how elderly and cognitively disabled people used and experienced a social companion robot. The following pages explores the questions: Which are the physical, social and affective qualities during the interaction? The aim was to through observations see how qualities of interaction could activate different forms of behavior. The results show that motion, sound and the eyes together created communicative and emotional changes for users who felt joy and were willing to share the activity with others. The robot stimulated to some extent users to create their own imaginative experiences but often failed to involve user or group for a long time and was also considered too large and heavy to handle..

In this master thesis, control algoritms using arm side sensors are investigated for an industrial robot. The sensors can be position encoders placed after the gearbox and accelerometers on the robot arms. Control strategies are discussed and evaluated for different models of the robot, after which chosen strategies are applied to a realistic model. Control algoritms using arm side sensors (LQ, dual-loop and PD-PID) are compared to a PID-controller that only uses measurements of motor position for feedback control. The comparison are done with respect to disturbance rejection, oscillation damping, robustness and tracking performance of a reference trajectory.