This master thesis includes a description of how a number of sensors are put together in a sensor platform. It also gives a description of how localization and mapping has been performed with data collected from the sensor platform. Localization is a prerequisite for most of the tasks that can be requested from an autonomous mobile robot. In many situations the GPS signal is not available and hence an additional localization system is required. One approach is to apply localization based on landmarks extracted from the Robots surrounding.

The work describes the development of an adjustment algorithm that will replace today?s manual adjustment of Lead- and Lag-filters at ABB Robotics industrial Robots. The adjustment is mainly for the filter parameters in the control system.Three different algorithms have been created to replace the manual adjustment. One of them is based on the criterion from the manual adjustment and another one on optimization of the sensitivity function. The last one is a combination of the two.The report describe the development of the algorithms and how they behave during simulations and tests on real Robots.

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.

The report describes the process of identifying the interference that exists in a newly installed automated robotic cell and suggest improvements to increase productivity. The cell is used for lifting up extruded aluminum sections onto a conveyor which deliver the material to a anodising line at a company that manufactures aluminum extrusions.To find the areas with the best possibility for improvements in the cell we used a variety of job measurements e.g. measure of standard times for each operation in the cell. The core of the report is a study of the Robots.One reason for this study is that the Robots do not reach the productivity they were purchased to. The main cause not reaching the productivity is the visionsystem.

At Uppsala university scientists have during the last years developed and built wave energy converters. This project is called "Lysekilsprojektet". The development has come so far that they are currently investigating how to gain profit in a mass production. For that reason they want to automate as many steps in the production as possible.The winding of the stator is one part that is being automated using industry Robots. The stator is cable wound unlike many other generators.

This thesis approaches the problem of estimating the arm angles of an industrial robot with flexibilities in joints and links. Due to cost-cutting efforts in the industrial Robots industry, weaker components and more cost-effective structures have been introduced which in turn has led to problems with flexibilities, nonlinearities and friction. In order to handle these challenging dynamic problems and achieve high accuracy this study introduces state observers to estimate the tool position.The observers use measurements of the motor angles and an accelerometer and the different evaluated observers are based on an Extended Kalman Filter and a deterministic variant. They have been evaluated in experiments on an industrial robot with two degrees of freedom. The experimental verification shows that the state estimates can be highly accurate for medium frequency motions, ranging from 3-30Hz.

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.

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.

This project is based on my fathers farm which lays outside Löberöd, twenty kilometres south of Eslöv in Skåne. While my family for some time have thought about building a new milkingstable with AMS(Automatic milking system) I decided to compare the AMS with a conventional milkingstable. We are abit concerned about how many cows we should have in the new stable. Because of that I calculated with two different number of cows. I have compared three different types of milking stables: One alternative is 180 cows milked in a double eigth hearing bone milking stable. The second alternative is 128 cows milked with two DeLaval VMS-Robots. The third alternative is 171 cows milked with three DeLaval VMS-Robots. One salesman from DeLaval and one salesman from A-betong helped me to get marketprices on the milkingRobots, building, ventilation and prices on all the concrete. In all the costs labour is included. The rest of the costs are calculated in a softwareprogram called K-data 03 which is a program with predicted costs. The calulations from the program showed that the price in the milkingpit system was 51 000 sek per cow.

This project is a step towards automatic firefighting. The goal is to decrease the number of personal injuries by replacing the human firefighter with Robots or similar technical tools. Especially in very hostile environments due to risk of explosions or building collapse. A robot is easy to replace and can be maneuvered from a safe distance. The idea of the project comes from the company Drones Networking which aims for developing a totally autonomous firefighting system.

This thesis work has been performed at the Division of Assembly Technology at Linköping University for a period of ten weeks. The work is part of the project ProFlexA, which is a research project in collaboration between Linköping University, Lund University, and industrial partners such as Combi Wear Parts and Smålands Stålgjuteri AB.The casting process creates random incurred burrs and defects, which must be removed during a cleaning process to make sure that the cast can be sold. Automation has long been sought for the cleaning of castings due to, among other things, poor working conditions for staff, but this has proved difficult to implement with today's technology. Automation has for some time been available for more capital strong companies with large annual volumes, but for smaller companies with small-and medium-sized volumes, automation has not been an option.The goal of ProFlexA is to develop an automated cleaning cell aimed at small-and medium-sized volumes.The goal of the thesis is to do a pre study at ProFlexA?s partners on cleaning of castings, and develop concepts for automated cleaning of castings.By recording the process and cycle times, the cleaning of castings has been documented as it works today, and on this basis, information and statistics has been compiled.

Texo Application has created Robots that they call for satellites; with these you can feed in storage pallets into a satellite storage. Satellite storages consist of channels in height (e.g.3 to 8 pieces) and width (e.g.3 to 100 pieces). Channels can be different long (e.g. 5 to 200 pallets). At deposit of a storage pallet the truck insert the satellite in a channel and then the pallet, the pallet is driven into the channel until it reaches another pallet or the other end.

In order to detect movements and vibrations on different appliance, especially Robots and self-going devices are used different sensors. One of the most used movement sensors are accelerometers. They are three different types of accelerometers one-axes, two-axes and three-axes. They can be analogue or digital. Husqvarna AB uses an accelerometer to detect movements of their self-going lawnmower Automower.

Denna uppsats handlar om medelålders personers inställningar till robotar i vården. Utmaningen är att fylla gapet som skapas mellan ökandet av äldre och minskandet av vårdgivare. Robotar i hemmet ska fungera som ett hjälpmedel för äldre personer där de ska kunna bo själva längre och även känna självständighet. Uppsatsen undersöker hur personer mellan 40 och 60 år ser på robotar i hemmet och om de hade kunnat tänka sig ha en sådan hemma när de blir äldre. En jämförelse görs mellan 20-40 åringar från en tidigare studie som genomfördes för ca 15 år sedan och dagens 40-60 åringar för att ge svar på frågan: Har synen på robotar och inställningen till dessa förändrats över tid sedan den sista undersökningen år 1998? Vilka mönster finns det ? likheter och skillnader?.

This thesis studies path generation for industrial Robots of six degrees of freedom. A path is defined by connection of simple geometrical objects like arcs and straight lines. About each point at which the objects connect, a region, henceforth called a zone, is defined in which deviation from the defined path is permitted. The zone allows the robot to follow the path at a constant speed, but the acceleration needed may vary. Some means of calculating the zone path as to make the acceleration continuous will be presented.