Final work proposals¶
This section presents some proposals for the final work, some practical and some theorerical.
One of the has to be chosen or, alternatively, a different proposal can be discussed if it lies within the fields dealt in the course.
Final works can be done in groups of two.
Planning and basic programming¶
FMS 1: logical correctness analysis using Petri Nets¶
Consider a flexible manufacturing cell composed of three robots (R1, R2 and R3), four machines (M1, M2, M3 and M4), three input buffers (E1, E2 and E3) and three output buffers (S1, S2 and S3), such that:
- R1 transports parts from E1 to M1 or M3, and from these machines and S1.
- R2 transports parts from E2 to any of the four machines, and from any of them to S2.
- R3 transports parts from E3 to M2 or M4, and from these machines to S3.
Three types of parts are manufactures, P1, P2 and P3, with the following visit of machines:
- P1: E1-R1-M3-R2-M4-R3-S1 / E1-R1-M1-R2-M2-R3-S
- P2: E2-R2-M2-R2-S2
- P3: E3-R3-M4-R2-M3-R1-S3
Analyze the correctness of the system using Petri Nets and propose any required change to make the system live, bounded and reversible.
FMS 2 logical correctness analysis using Petri Nets¶
Consider a manufacturing system with three machines, M1, M2 and M3 and a robot R that uploads and downloads them. Parts enter the system through the input conveyor and exit it through the exit conveyor. M1 has capacity 3 and M2 and M3 have capacity 2. Two types of parts are processed, A and B. Type-A parts are processed first at either M1 or M3 and then at M2. Type-B parts are processed first at M2 and then at M1.
Analyze the correctness of the system using Petri Nets and propose any required change to make the system live, bounded and reversible.
Report on motion planning for robot manipulators¶
Discuss the motion planning problem for robot manipulators, current approaches and tools.
Implementation of robotic systems using ROS¶
ROS implementation of a manipulation server¶
Improve the system developed for exercise 5 and practical P2 by implementing a server that offers the services to pick and to place an object:
- Considering the images recorded in the rosbag of the tutorials or the images generated by the gazebo nodes, if possible, and the robot in rviz.
- Considering the real camera and the real robot (depending on the availability of the lab this can be tested experimentally).
ROS implementation of a XY teleoperation system for the UR3 robot¶
Implement a teleoperation system: Use the turtle_teleop_key node from the turtlesim package and use the advertised data do move the UR3 robot in the x-y plane, by making use of the package that computes the inverse kinematics.
Advanced robotic applications¶
Implementation using Matlab of centralized motion control structures¶
Implement the basic centralized motion control structures using the Robotics Toolbox and the Puma560 manipulator.
Implementation of position-based visual servoing using the resolved velocity control scheme¶
Modify tutorial T4 to include the correct implementation of the visual servoing loop using the resolved velocity control scheme. Exemplify it using the UR3 robot.
Report on the image-based visual servoing approach¶
Describe the image-based visual servoing approach, including examples using the Machine Vision Toolbox.
Report on force control schemes¶
Describe the hybrid Position-Force control schemes and its applications.
Report on teleoperation control schemes¶
Describe architectures and control schemes for teleoperator systems.