Industrial Robot Navigation System Using a Torque Sensor

Abstract

This thesis details the design, implementation, and testing of a novel navigation system for the KUKA KR4 industrial robot, enhanced by integrating a force/torque (F/T) sensor. The system enables intuitive hand-guided navigation of the robot arm, representing a significant advancement in robotic control technology. The navigation system captures real-time force data from the F/T sensor connected to a PC via Ethernet, facilitating seamless data acquisition and processing. The processed data is used to update end coordinates in a variable within the robot’s workspace, which is controlled using a program written in Kuka Robot Language (KRL). This allows for precise, manual control of the robot’s movements, simulating a more natural interaction between humans and robots and increasing usability in various industrial settings. Extensive testing verified the system’s effectiveness and reliability, demonstrating the robot’s ability to perform complex navigation tasks with enhanced accuracy and reduced setup time. This successful implementation not only proves the feasibility of using torque sensors for real-time robotic navigation but also lays the foundation for future innovations in robot-human interaction technologies, offering insights into the transformative potential of F/T sensors in industrial robotics.