SOME THESIS PROPOSALS:
robotics
vision systems
augmented reality
control systems
In the list below are some examples, which can be discussed and adapted to the student's interests.
master's degree path is not important, all students interested in deepening the proposed topics are welcome.
robotics
vision systems
augmented reality
control systems
In the list below are some examples, which can be discussed and adapted to the student's interests.
master's degree path is not important, all students interested in deepening the proposed topics are welcome.
Setup of a force sensor in a robotic system
The purpose of this thesis project is the use of a force sensor mounted as an end effector of an ABB manipulator to analyze data during processing.
The thesis will therefore be divided mainly into two parts:
- First we need to analyze the OnRobot sensor, to understand how to integrate it with the ABB system. Specifically, the sensor values must be read while the robot makes movements.
- Once the system is realized, machining operations will be defined and the data relating to the forces detected by the sensor will be analyzed.
During this thesis work, the following topics will be examined in depth: sensors, communication protocols, ABB programming with RobotStudio and the Rapid programming language.
energy sustainability of a hydraulic actuator
The aim of this thesis is the realization of experimental tests for the validation of a research work carried out in the laboratory on energy sustainability.
The work will therefore consist of :
-
a first part of simulation: system modeling, development and testing of control systems for the resolution of the problem presented regarding energy savings.
-
a second part of experimental validation of the results obtained on the hydraulic actuator.
During this thesis work, the following topics will be explored: the mathematical modeling of oleodynamic systems, the use of Matlab, Simulink, and Simscape Hydraulics
for the simulation part and Simulink Real-Time for experimental tests.
- a first part of simulation: system modeling, development and testing of control systems for the resolution of the problem presented regarding energy savings.
- a second part of experimental validation of the results obtained on the hydraulic actuator.
real-time operating systems on ARM
The purpose of this thesis work is the realization of a Real-Time controller for the control of a self-balancing vehicle. Specifically, the interest of the work is the comparison between different linux based systems to create a Real Time platform: including for example Xenomai 3/4. During this thesis work, the following topics will be explored in detail: Operating system and linux kernel, Real time systems such as Xenomai, Raspberry or other ARM platforms, C/C++ programming language and canopen communication protocol for self-balancing vehicle driver control.
integration of a gripper in the ABB robotics system
The aim of this thesis project is the development of a software application for the integration of a gripper in an ABB manipulator. Specifically, we want to create a C# interface that allows the user to control the robot and operate the clamp. For this purpose it will be necessary to develop a Server application in Rapid or using Ros for the robot controller, which converts the commands received from the client interface into commands to the robot. During this thesis work will be deepened the following topics: communication protocols, ABB programming with Robotstudio and programming language Rapid and C#. An extension that can be made to this thesis project concerns the insertion of a vision system, to detect the presence of objects to collect with the clamp.
tracking of an object with vision system placed bound to the End-Effector
This thesis project aims to track an object, for example a ball, with the PKM robot. Unlike what has been done so far, the vision system will not be fixed but bound to the robot’s End Effector. This thesis project will address several topics: robot modeling and system simulation in Simulink and the development of vision and control algorithms for tracking. Among the technologies that will be used are Simulink Real-time for experimental tests on the robot and ethercat as a field bus to control the drives.
remote control of a parallel kinematic manipulator through a 3 gdl haptic interface
The aim of the thesis project is the remote control of a parallel kinematic robot through a haptic interface with 3 degrees of freedom. The interface is equipped with a force sensor, used as a handpiece, with which the user can apply and perceive forces. With this tool you want to be able to control a second robot, ideally in the plane. One idea is therefore to create via software an environment equivalent to the desired workspace for the robot. The user moving the interface in the environment can move the robot in the same plane, and will perceive a virtual wall reached the limits of the area. The final goal of the project is the addition of a force sensor to the robot, so that it can carry out a complete control in force between the two robots. During this thesis work Matlab, Simulink and/or Adams will be used for the simulation part and Simulink real-time for the experimental part. The topics covered in this thesis proposal are: the control systems in force, the communication protocols for data exchange between the two systems and the kinematic and dynamic modeling of robots.
augmented reality with magic leap2 glasses
This thesis project is about using augmented reality glasses to interact with robotic systems. The goal of the project is therefore to create an application that allows the user to receive additional information about a robotic system in the right positions. The glasses allow you to see through the lenses and to superimpose on the view other information in specific areas of the lens. The glasses are also equipped with a series of sensors that allow you to perceive the surrounding environment, including a 3D camera that allows you to locate yourself with respect to the robot to view the information in the right positions. Unity or C can be used to program glasses.
High-quality 3D color vision for industrial and collaborative robot cells.
The thesis proposal concerns the use of a Zivid One+ 3D camera for the development of a vision in the loop system. The goal is to select a robot manipulator in the laboratory, and use the 3D camera to identify objects and allow the robot to know the pose. It will be necessary to realize the architecture for the communication between the robot and camera controllers, and the development of algorithms to analyze the collected images and define the desired behavior of the manipulator.
ROBOT SPINDLE
The aim of the thesis project is to create a test bench for the use of a spindle mounted on a manipulator robot. Using a force sensor, the forces exchanged between the robot and the environment must be evaluated in order to carry out the designated processing correctly. The thesis therefore requires: the analysis of the signals provided by the sensor in force, the definition of the system architecture considering the needs of the application, the development of the control system in force to carry out the processing.
