Graphic Interface and Robot Control System Design with Compensation Mechanism
Abstract: Nowadays, many researchers are developing several useful prototypes to control robots by AR/VR devices. However, the robots they used are all ROS supported and the prototypes do not have a feedback mechanism to achieve error compensation. For industrial robots, there have lots of type robots do not support ROS and serve production line from many years ago. It is a challenge that how to connect these legacy robots with new AR/VR technology to achieve both human-robot collaboration and cost-saving. This thesis describes a series of works developed in order to control a non-ROSsupported industrial robot, KUKA KR6 R700 Sixx, by Unity graphic interface. The main goal of this thesis work is to establish a backend system structure to support control commands from Unity that can be executed by the robot. Furthermore, a compensation mechanism with closed-loop function is developed, which can adjust if the feedback data of the final robot pose is out of the tolerance scope. In order to achieve this, some available code packages and Unity assets are applied i.e. rosbridge_suite, ROS# and KukaRosCommunication. Moreover, some useful functions are also developed to achieve i.e. pick and place. To understand the availability of the system, two tests have been completed: compensation mechanism test and system delay test. The compensation mechanism test result shows that more than 98% position error can be compensated. The system time delay test result shows that the system needs further development to achieve real-time control.
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