Automated selection and optimization of protective measures for industrial robot applications
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Journal Title
Journal ISSN
Volume Title
Sähkötekniikan korkeakoulu |
Master's thesis
Authors
Date
2024-08-19
Department
Major/Subject
Autonomous Systems
Mcode
ELEC3055
Degree programme
Master's Programme in ICT Innovation
Language
en
Pages
54+2
Series
Abstract
This research presents the development of an AddIn for a robot simulation system aimed at streamlining the placement of laser scanners in simulated robot cells. The solution allows for the integration of laser scanners, visualization of their field of view (visible zones), and optimization of their placement by minimizing blind spots. The central objectives of reducing reliance on manual input and enhancing accessibility in the design process were achieved. The study found a 2D Polygon method to be proficient in determining safety and visible zones. This method operates by handling all robot cell components and zones as polygons and employing custom algorithms to process them. Additionally, the positioning algorithm for laser scanners demonstrated computational efficiency in locating optimal placements. The optimization's search algorithm is parallelizable. Despite its effectiveness, challenges arise in scenarios involving multiple laser scanners in complex robot cells. Potential enhancements include refining the AddIn’s preprocessing for complex shapes and introducing functionalities like automatic generation of protective and warning zones. This research sets the foundation for future explorations, such as the incorporation of 3D laser scanners using the existing 2D algorithms and automation for placing other protective measures. In essence, this thesis marks a pivotal advancement in automating laser scanner integration in robot simulation systems and highlights numerous prospects for further innovations.Description
Supervisor
Ksentini, AdlenThesis advisor
Zhou, QuanKeywords
robotics simulation, robot cell design, laser scanners, protective measure optimization, industrial automation