Search results for "Etik"
showing 10 items of 128 documents
Design and Implementation of a Computer Vision System for Robotic Disassembly of Electric Vehicle Battery Pack
2020
Master's thesis in Mechatronics (MAS500)
Modeling of an Underwater Robotic Manipulator With a Customized End-Effector for Removal of Derelict Pots
2020
Master's thesis in Mechatronics (MAS500) This thesis investigates the opportunity of generating complementary technology devices forexisting remotely operated vehicles (ROVs) so that abandoned material can be collected andretrieved, particularly from the bottom of the ocean.According to World Wide Fund for Nature (WWF), over eight million tons of plastic end upin the sea each year [13]. Furthermore, they claim that based on a survey of Northern fulmarsin the North Sea, as many as 9 out of 10 birds have plastic in their stomachs. However, plasticis not the only issue regarding marine litter. A survey from the Institute of Marine Researchshows that accessories findings reported by divers in t…
Automatic Path Planning for Door-Milling Application Using an Industrial Robot
2018
Master's thesis Mechatronics MAS500 - University of Agder 2018 This report covers automatic path planning for a 6 degree of freedom industrial robot used in a milling application. The kinematics are derived for the ABB IRB6600 robot used in this master thesis. Different sensors for determining the work-object pose in relation to the robot are evaluated, and a suggested vision system is presented and tested. When industrial robots are used in high precision contact applications, such as milling, the robot stiffness must be considered. Therefore, a joint stiffness analysis is conducted for the ABB IRB6600. The results from the stiffness analysis are, in addition to the milling force data, use…
Development of a Semi-autonomous Holonomic Load Carrier with Multi-camera Perception
2020
Master's thesis in Mechatronics (MAS500) This thesis documents the development of a load carrier capable of carrying ten advanced personal robots. The robots of concern are Segway Robotics’ Loomo,which are used for education purposes at the University of Agder. They are used at multiple locations on campus, and it is desired to develop a system that can effectively transport them around. The report covers the concept generation, mechanical design, electrical design and development of a navigation system. A simple and compact design was developed and built. To achieve holonomic drive, the rig was equipped with four mecanum wheels. A mechanical design process was performed tocome up with a so…
Pump controlled hydraulic cylinder with large inertia loads
2021
Master's thesis in Mechatronics (MAS500) This thesis is centered around the commissioning, testing, modeling and experimental validation of a pump-controlled hydraulic actuator capable of controlling large inertia loads. Prior to the thesis an experimental test bed had been constructed mechanically and hydraulically, and placed at the University. The primary focus of this thesis has been finalizing the experimental test bed in terms of building the electrical setup, placing instrumentation, developing software, tuning the electrical motors, followed by commissioning and testing of the experimental system. At the time of completing the thesis, the system has been completed, successfully comm…
Developing a Free-Falling Robotic Cat With Righting Reflex
2020
Master's thesis in Mechatronics (MAS500) Changing the orientation of a body in free fall is a useful skill, found in cats. The applicationsrange from zero-gravity in space to damage control of a falling object. This thesis aims to create arobot cat able to always land on its feet. The robot cat is based on the rotating cylinder conceptsuggested by Kane and Shere, where the front and the rear of the cat each consists of a larger outercylinder rotating around a smaller inner cylinder, connected by a revolute joint. Each half of therobot cat consists of a PE100 outer pipe, an aluminum inner tube, a servo motor, an incrementaloptical encoder, and a power supply, connected by 3D printable parts.…
Adaptive Backstepping Control of Quanser 2DOF Helicopter : Theory and Experiments
2019
Master's thesis Mechatronics MAS500 - University of Agder 2019
On-Line Oil Condition Monitoring for Marine Gearboxes : This thesis addresses the importance of oil condition monitoring in marine reduction gearboxe…
2020
Master's thesis in Mechatronics (MAS500) Failures in marine reduction gearboxes lead to substantial costs. With the use of oil condition moni-toring, these failures can be foreseen so that preemptive measures can be taken. The development ofoil condition monitoring equipment has come a long way, and it is time to start using this technology.There are various reasons why a gearbox failure, and as most of them are a result of inadequatelubrication, several things can be done to reduce these failures. By testing 3 different sensors in agearbox lubrication system, this study goes through each sensor technology and aims to figure outwhat is important to consider when selecting a sensor for oil c…
Safety assurance of high voltage control module in a robotic paint system
2020
Master's thesis in Mechatronics (MAS500)
Bolts detection and a combination of conventional and reinforcement learning based control of UR5 industrial robot
2021
Master's thesis in Mechatronics (MAS500) The main objective of this paper is to investigate the possibilities for using reinforcement learning to control a UR-5 robot. The paper also looks at how well reinforcement learning works to control a UR-5 robot. These questions are answered by constructing of matlab and simulink programes. Based on different mathworks example programs and scripts. In this study, reinforcement learning only works in the situation it is trained to perform. The author believe that it could work better if it were given other configurations/parameters. This will still be an interesting subject for further studies. According to the research done in this paper, the conven…