The task in this thesis is the steering of one of Saab Bofors Dynamics robots using Sliding Mode Control, a method they never used before. The robot constitutes a system which in addition to perturbations and uncertainties due to modeling imprecision, hold the difficulty of being highly time variant. In order to be able to keep required performance with uncertainties and modeling imprecision present, the use of robust control methods like Sliding Mode Control is necessary. SMC is based on the states of the system being forced to stay on or in the direct vicinity of a hyper plane in the state space which is chosen in a way that gives the system dynamics desired properties. Other advantages with sliding mode are reduced order dynamics on the switching surface and total insensitivity to some uncertainties and perturbations.

In the assembly process of airframe structures there are many drilled holes and on some parts the holes are mainly drilled manually with pneumatic handheld drilling machines. During conventional drilling in metal, burrs appear. To remove these burrs the parts of the structure must be separated and deburred before they can be put together for fastening. This is a time consuming measure and therefore expensive. To facilitate this process and lower production costs some parts of the process needs to be automated.A part of this thesis was a project in co-operation with Saab, Novator, Specma Automation and the University of Linköping.

Bakgrund: Robot-assisterad kirurgi har blivit alltmer popul?rt och effektivt som en alternativ teknik till traditionell ?ppen kirurgi. Detta tillv?gag?ngss?tt som anv?nder ett avancerat system f?r att genomf?ra kirurgiska ingrepp har utvecklats ?ver tid och inneb?r flera f?rdelar som ?kad precision och kontroll samt minskad risk f?r komplikationer. Trots framstegen st?r kirurgiska team inf?r utmaningar med anpassning till den nya tekniken och behovet av att utveckla strategier f?r att uppn? optimalt resultat.

Detta examensarbete behandlar problemet med att testa inbyggda system i kontorsmiljö. För att göra detta och därigenom kunna göra anrop på det inbyggda systemets API, måste detta anrop skickas som ett seriellt datapaket över en seriell kommunikationslänk som TCP/IP.Detta möjliggjordes genom att först upprätta en kommunikationslänk med protokollet TCP/IP, där användningen av POSIX-sockets tillämpades. För att packa ner och packa upp funktionsanropen till seriell data implementerades ett protokoll som följdes när detta utfördes. Hantering av data i samband med överföring över TCP/IP sköttes av ett protokoll vid namn BGSFP, ett protokoll som bygger på det tidigare protokollet TSFP..

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.

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..

During spring 2009 a three meter tall and laughing robot was developed in collaboration between Royal Institute of Technology and Royal University College of Fine Arts. The robots function and esthetics is based on an existing toy robot called Elmo. Elmo is 30 cm tall but now the goal was to make it 1000 times bigger in order to present it on the spring exhibition of Royal University College of Fine Arts. Due to only four months of developing and building time a demand of fast determination and good planning was required. In order to make a good structure for the project it is divided into five phases: Analysis of Elmo, planning, concept development, detail construction and finally product development and testing.In the first phase valuable knowledge is obtained according to the movements and geometry of Elmo.

To make wave power more competitive on the market Uppsala University leads projects that examine how to accomplish better efficiency in the production. One of these projects is described in this report and examines whether it is possible to make the production of dovetails more efficient by using an industry robot of type ABB IRB6000 S3 M91. This project is using an already presented working method, from a previous project, which involves that the robot picks up the dovetail and moves against fixed cutting machines where the dovetail will be drilled, threaded and milled. Drilling and threading are the sub operations that will be examined in this project where experiments are made with the presented working method and with equipment from Uppsala University.Experiments show whether it is possible to drill the holes in the dovetail within specifications by using the specific robot and the presented working method. The threading operation is examined theoretically if it is possible to accomplish by using the same working method.

Detta examensarbete är en undersökning av hur många liggbås som finns i olika skötselsystem för robotmjölkning med dels fri kotrafik och dels olika former av styrd kotrafik. Undersökningen föreslogs av Växa Sverige och är en enkät som skickades ut till 70 lantbrukare. Användbara svar till undersökningen lämnades av 44 av lantbrukare. I undersökningen har vi valt att redovisa resultaten i 5 olika kategorier, Milk first, Feed first, Frigående kotrafik, Flerboxsystem och Ekologiska. Det finns idag inga rekommendationer för antalet liggbås per mjölkningsrobot baserade på praktisk erfarenhet, för lantbrukare som ska bygga nytt stall. De enda riktlinjer som finns är robotföretagens teorier och Sveriges djurskyddlag som kräver minst ett liggbås per ko. I studien framkom att det var en stor variation i antal liggbås per robot och även i önskade antalet liggbås per robot. Faktorer som påverkade antalet liggbås var kornas medelavkastning, aktuellt system för kotrafik och hur lantbrukarna vande in kvigorna och sinkor till roboten innan kalvning.

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 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.

This thesis deals with the compatibility between analysis software Revit Structure2012 and Robot Structural Analysis 2012. The purpose is to become more aware ofinformation management models to be compatible across different softwareapplications. The structural model is made to be optimal for the compatibility of othersoftware Aim is also to gain an understanding of the transferring methods that exist,and which method is most convenient to use and to examine whether the methodswork in practice. Objective of this project is to make the modeling processtime-efficient for constructors. Models do not need to be structured in severaloccasions in different software; it only needs an optimal model that transfers properlybetween software.The method used in the thesis consist cases where the transferring process isexamined.