| Abstract [eng] |
This master thesis investigated the performance of a robotic Touch Sensor and how it can help to significantly reduce errors in metalworking. The offline programming method is also described and evaluated. The applications of Touch sensor product retrieval and Offline programming are reviewed. It also designs and describes the operation of the Touch sensor and its usefulness in welding processes In the theoretical part similar projects are reviewed. It describes how they have used Touch sensor or Offline Programming and what objectives they have achieved. The project part describes: 1."The advantages of offline programming to speed up the work process. 2. Measured errors due to the mismatch between the simulation program and the mathematical module of the real robot. 3.The Touch Sensor operation is adapted to minimise the errors. 4.As an additional measure to increase accuracy, a recalibration of the axes was carried out to further reduce the errors. These methods (Offline programming, Touch sensor) allow to increase the performance and accuracy of the robotic welding system, which reduces the payback period of the system and improves the quality of the welded products. |
