Control Interface for Robotic Arm

Kurzfassung

In today's industrial work, robotic arms are used to automate processes. They make manufacturing procedures more efficient by providing higher duration and precision. Not only in industrial applications, but also in scientific environments specific tasks are to be automated. Due to the wide range of industrial robots from companies like ABB, FANUC, and KUKA, commonly industrial robots are also used in scientific environments. However, scientific processes are not as monotonous as industrial ones. Various motions are to be performend for different use cases. Accordingly, a different interface to control the robotic arm more dynamically is necessary. During this thesis, existing interfaces and related work are reviewed and compared to the given requirements. Furthermore, a modular software architecture is derived from state of the art robot interfaces and implemented in the programming language Matlab. Afterwards, a function test is performed which evaluates the developed interface's capabilities and combines the robotic arm with an external tracking system. This combination provides a base to facilitate future industrial procedures concerning the integration of accurate robotic systems.