Automatic Online Generation of Robot Trajectories in KUKA Robot Language based on predefined acceleration patterns for the KUKA Robocoaster Simulator Platform

Kurzfassung

This thesis report has been submitted in completion of my Master's Degree in Mechatronics. We can define Mechatronics as the synergistic combination of mechanical engineering, electronics engineering, controls engineering and computer engineering to create useful products. The purpose of this interdisciplinary engineering field is the study of automata from an engineering perspective and serves the purposes of controlling advanced hybrid systems. The word itself is a combination of 'Mechanics' and 'Electronics'. One such area where this synergistic combination of mechanical and electronics (and allied fields) engineering is prevalent is robotics. Mechanical engineering concerns itself with the design of robots, electronics engineering deals with actuation and control engineering with controlling the robot. The field of industrial robotics concerns itself with the study, design and use of robot systems (manipulators) for manufacturing purposes. Typical applications of these robots are in manufacturing industry where they are used for welding, painting, ironing, assembly, pick and place, packaging and palletizing, product inspection, testing etc. As with other fields of mechatronics, considerable research has been done over time in robotics to improve the endurance, speed, and precision of these robots. Other research efforts have been focused on finding new applications for these robots. The Robocoaster Simulator Platform (RSP) is one such project where the endeavour to use industrial robots for motion simulation. In the past few years, considerable research on this project has been carried out at the Institute for Robotics and Mechatronics, German Aerospace Center (DLR), Oberpfaffenhofen. This thesis is a part of that research effort and is concerned with automatizing the process of programming the RSP. In chapter 1 of this report, I highlight some of the basic aspects of the Robocoaster Simulator Platform project. This is followed in chapter 2 by a detailed description of the objectives of this thesis. In chapter 3, kinematic modelling aspects of robots are introduced and such a model of the RSP is developed. Finally, in chapter 4, the planning and programming of robot trajectories is discussed and a solution for automating these processes for the RSP is presented.