Development of a MATLAB remote control package for kuka robots

مقدم أطروحة جامعية

Mismar, al-Mutazz Billah Muhammad Asad

مشرف أطروحة جامعية

Bani Yunus, Muhammad

الجامعة

جامعة فيلادلفيا

الكلية

كلية الهندسة

القسم الأكاديمي

قسم هندسة الميكاترونكس

دولة الجامعة

الأردن

الدرجة العلمية

ماجستير

تاريخ الدرجة العلمية

2019

الملخص الإنجليزي

Robots have become an essential element in industry and have drew the attention of researchers and manufacturers.

Many companies are competing in the robotics manufacturing field.

Kuka is one of the leading innovative companies in the manufacture of industrial robots.

However, Kuka robots do not have a direct communication with PC to send and receive data.

To overcome this problem Kuka introduces an additional communication package to establish a communication between the robot and PC.

However, the package requires the user to calculate the forward and inverse kinematics and send the data as an XML file to the Kuka controller.

This Thesis presents a new method to program Kuka robots from a remote PC without the need of an additional software or the robot kinematics.

The method is to use MATLAB functions to program the robot.

KUKAVARPROXY was used to write and read variables in the robot.

MATLAB will send data to the KUKAVARPROXY while a KRL program is running, Then the robot will move according to the changes in the data.

Two case studies are used to test the package: the first is to check the motions separately while the second is to ensure that the package can be used for robot programming.

The results show that the developed package is successful in transmitting and receiving data between the PC (MATLAB) and Kuka robot.

Furthermore, control of point-to-point and linear motions using the developed package are tested and validated.

التخصصات الرئيسية

تكنولوجيا المعلومات وعلم الحاسوب

الموضوعات

• التحكم عن بعد
• الروبوتات
• ماتلاب

عدد الصفحات

70

قائمة المحتويات

• APA
• MLA
• AMA

لغة النص

الإنجليزية

نوع البيانات

رسائل جامعية

رقم السجل

BIM-956640