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Trajectory Planning and Control of High-Speed Pick and Place in Industrial Processes

Arianna Loi

Trajectory Planning and Control of High-Speed Pick and Place in Industrial Processes.

Rel. Alessandro Rizzo, Giovanni Gerardo Muscolo. Politecnico di Torino, Corso di laurea magistrale in Mechatronic Engineering (Ingegneria Meccatronica), 2018

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Abstract:

The manipulation of bottles in high speed conditions is a serious issue in industrial processes. The objective of this thesis is to develop novel systems to pick bottles from a high-speed conveyor and to place them on another conveyor with a predefined position and orientation. Each cycle of pick and place of bottles must be performed within a maximum time. The solution to this problem has been requested by a company and a joint patent on the proposed solutions is in a pending status. In a first step, the optimization of the present technology is proposed. In a second step, three different new solutions have been studied. For each proposed solution some novel manipulators and control systems have been studied and simulated. The comparison among control outputs and a detailed analysis in order to satisfy the objective of the thesis permitted us to define the novel system and the control architecture proposed.

Relators: Alessandro Rizzo, Giovanni Gerardo Muscolo
Academic year: 2018/19
Publication type: Electronic
Number of Pages: 106
Subjects:
Corso di laurea: Corso di laurea magistrale in Mechatronic Engineering (Ingegneria Meccatronica)
Classe di laurea: New organization > Master science > LM-25 - AUTOMATION ENGINEERING
Aziende collaboratrici: FONDAZIONE IIT
URI: http://webthesis.biblio.polito.it/id/eprint/9552
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