Bachelor-Thesis Projects

Summary


Sviluppo di un programma Matlab per il telecontrollo in simulazione di un cobot UR5 tramite joystick

Development of a Matlab program for reading input signals of a joystick connected to the workstation and converting them into commands in the joint-space to move a simulated version of a collaborative manipulator UR5, by Universal Robots.

Status: in progress
Supervisors: M. Carricato, S. Comari

Sviluppo di un dispositivo hardware di collegamento tra un manipolatore UR5 e un joystick per il telecontrollo diretto

Development of a physical device, based on an Arduino platform, to read incoming signals from an external joystick and send joints velocities to the controller of a collaborative manipulator UR5 by Universal Robots through its analog input ports.

Status: in progress
Supervisors: M. Carricato, S. Comari

Test a banco di un algoritmo di retroazione per il controllo in coppia di un azionamento stepper

Study and testing of an algorithm for closed-loop torque control of a stepper drive through load cells feedback, using an Arduino board  on a custom-designed test bench.

Status: in progress
Supervisors: M. Carricato, V. Mattioni

Progettazione ed implementazione del cambio elettronico per una vettura di formula SAE

Design of an electronic actuation system for gearbox and clutch to replace the current pneumatic actuation, not sufficiently reliable. To this purpose, a Simulink model that simulates the operation of a linear actuator is built and transferred to the Electronic Control Unit.

Status: in progress
Supervisors: M. Carricato
In collaboration with: CTM-Club Tecnica e Motori (Motorsport UNIBO)

Progettazione di un innovativo sistema di rinvio sensorizzato per robot a cavi

This thesis proposes a new design, and the corresponding kinematic model, of a swivel pulley system for cable-driven parallel robots. This innovative design enables to directly measure both cable deflection angles, and the cable tension, at the cost of a non-standard kinematic model of the swivel pulley. Nonetheless, cable deflection angles and tension are useful data for the establishment of simplified robot-pose estimation strategies. The new mechanical design, and the corresponding mathematical model, are experimentally validated in a prototypal set-up.

Status: in progress
Supervisors: M. Carricato, E. IdĂ