Designing and Developing an Integrated System to Control a Simulated Kuka Robot in Jack Software
The purpose of this thesis work is to design and develop a method to control a stand-alone or synchronized process in Jack software by an external controller which is integrated to other systems, such as FMS Simulator, through Modbus RTU over TCPprotocol. Controlling processes in throughout different subsystem is difficult and needs an elaborate design/planning. to prove the method of controlling a process in Jack, a controller, i.e. KUKA Controller, is developed to control a simulated KUKA robot in Jack and synchronization with Kiva AGV is developed by performing an Automated Storage and Retrieval System. token Ring method is used to control the synchronization between KUKA Master and Kiva Master at the Modbus network level. This thesis has proved a method to control simulation scene of Jack by multiple controllers simultaneously. However, a deeper exploration of Jack Script is needed to fix some errors and to extend the simulation to the higher level, such as colliding detection.
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