Presented Master Thesis about EtherCat for machine control

Last July, the 10th, Ignacio Rosales finally presented his project based on the development of a machine control system using the real-time EtherCat protocol. This project has been co-directed by Víctor Torres López.

The machine is a pick-and-place machine which was previously developed as part of the 2012 Omron’s CEA award.

Extensive work for reverse engineering the Omron servomotors and integrating into the LinuxCNC fwamework has been required.

As a result, a new architecture for the development of machines, with an excellent real-time response and high flexibility has been tested.

In the video, a demo of the system can be seen.

Great work, Nacho!

 

Presented Master Thesis about CNC machine control using FPGA

Last July, the 8th, Alejandro Barranco, presented his Master Thesis based on the implementation of a control system for a CNC milling machine based using LinuxCNC and the cards from MESA Electronics.

This CNC is based on industrial brushless motors with analog speed controllers from Baldor. He rebuilt all the electronics of the control box, tuned the controllers, installed a  new water-cooled spindle, and customized the control software.

Good job! Thanks, Alejandro.

Presented Master Thesis about robot self-tooling

Today, Jose María Herrero presented his work about robot self-tooling.

Jose María Presented the Robot Self-tooling concept.

Jose María Presented the Robot Self-tooling concept.

This a new concept involving 3D printing and robotics, where a robot can build and change his fingers automatically.

This setup uses a 3D printer extruder and a fingerless gripper with two dynamixel ax12 servos. He also had to deal with VAL3 for the programming the staubli TX60, and made a program in Python to send the G-codes.

Check the video:

Good job, José María.

Master Thesis on Domotic systems for Cottages

Alberto presented his Master Thesis (December the 12th) , where a new distributed control system has been developed, based on a CAN bus, for the local and remote control of large rural houses. Can bus offers reliable and deterministic communications with low cost installation.

Distributed Control System based on CAN bus

Distributed Control System based on CAN bus

A full set of nodes based on Atmel microcontrollers has been developed. Different daughter boards provide application specific I/O for motor control, sensors, etc.

A host based on a Raspberry Pi provides remote HTTP access to the network with a dynamic User Interface.

Huge work with impressive results!

Thank you, Alberto!

Presented Master Thesis about 6 dof’s Educational Manipulator

Last December, the 10th (2014), José María presented his Master Thesis about an educational 6 Dof’s manipulator programmable under Simulink.

Educational Manipulator Programmable under Simulink

Educational Manipulator Programmable under Simulink

The arm has been designed to be used on the PIERO platform, and built usin Dynamixel servos controlled by and Arduino Mega.

Good work.

Thaks!

Presented Master Thesis on Navigation for Social Mobile Robots

On July, the 15th, 2014, Antonio Martín presented its Master Thesis about Navigation for Social Mobile Robots.

antoniomartin

He developed a ROS based platform that uses a RGBD sensor for people detection. Some sonars were added for local obstacle avoidance.

ROS based mobile platform developed

ROS based mobile platform developed

The original report “Robot móvil con comportamientos sociales” can be downloaded.

Thanks, Antonio!

 

Presented Master Thesis about Educational Mobile Robots

On July, the 15th, 2014, J. Gil Lozano presented its Master Thesis about Educational Mobile Robots programmable under Matlab/Simulink. The original title is “Sistema didáctico para programación de robots móviles en Matlab/Simulink”.

juangil1

The student participated in the development of the PIERO mobile platform for teaching robotics and mechatronics. He worked with the version 1.0 of the platform and developed lab-work using both the Arduino and the Raspberry PI computing boards.

More details are going to be published at the annual conference of the spanish society of automation.

The report (Project Report) is available, although was written in spanish.

Thanks, Juan!

Presented a Master Thesis about remote environment modelling for off-line robot programming

The student J.C. Camacho presented a work called “3D MODEL DRIVEN DISTANT ASSEMBLY” about remote environment modelling for off-line programming, using computer vision.

He uses structured light and robot parallax to build geometrical models of the objects found. These models are later used to build automatic assembly plans.

Virtual pillars and camera motion are used for  model building.

Virtual pillars and camera motion are used for model building.

This work was developed at the Wise-ShopFloor research group from the Skövde University, wher he worked with J. Cana Quijada, under the tutoring of Abdullah Mohammed.

A remote programming interface was also developped

A remote programming interface was also developped

The project report (3D model driven distant assembly) was written in english and includes an abstract in spanish.