Realtime control of Mitsubishi MELFA RV-3SDB robot

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Supervisor:
Varga Dániel
Department of Automation and Applied Informatics

The use of robotics in industry is becoming more and more widespread. Corporations are using robots instead of human workforce more often to do tasks which are both too dangerous and difficult for human workers, or simply require a too high level of precision or monotony tolerance to be done by humans with acceptable error rates. Robots are being used, amongst other things, to weld, to paint, to pack, to assemble, and to produce circuits or to stress-test products. To control these robots, a variety of tools are being used worldwide.

During the work on my thesis, I have got to know such a robot, and I have created a safer, more user friendly software solution for its control, than the currently existing ones.

First I describe the goal of my development and I will elaborate on the problems to solve. In the light of this, I describe the robot, underlining the relevant properties, and I will also describe the already existing tools for the robot. In the next chapter, I detail the chosen technologies and I justify these choices. I describe those components of these technologies, which must be understood in order to fully understand my thesis. Then I describe the architecture I have designed to solve the problem, and the considerations behind it.

After the chapter about the architecture, a chapter will be spent to present the software and its features, in order to give help to its usage, and also to document the unsolved errors still in the software.

After the chapter about the software itself, comes the explanation of its inner workings: while I do not intend to give a full documentation for the code, the more complicated or interesting solutions are well described here to help those who in the future want to expand upon this solution. I will also elaborate on some other problems which emerged during the development.

In the end I will draw conclusion, and I write about the possibilities for further development which I currently see.

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