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Abstract(s)
Nesta dissertação, foi realizado um levantamento do estado da arte sobre robôs colaborativos desenvolvidos para aplicação em tratamentos fisiátricos do membro superior e foi desenvolvida uma solução para aplicação no mesmo tipo de tratamentos, utilizando o manipulador robótico UR5 e um computador. Neste sentido, foi desenvolvido um programa Python e um conjunto de programas no Polyscope, o software do robô. Para a aplicação dos dois programas, foi projetada e impressa uma peça, simulando uma pega, para ser fixada na extremidade do robô. Sobre o primeiro programa, a comunicação foi estabelecida entre o computador e o robô. As instruções foram enviadas para a execução das trajetórias e outras instruções foram desenvolvidas para que o robô pudesse enviar os valores das posições ao computador, ao longo das trajetórias executadas. Em relação ao conjunto de programas desenvolvidos no Polyscope, foram definidos exercícios para realizar flexão e extensão do ombro e cotovelo. Um programa corresponde a um movimento de cada articulação. Cada programa permitiu desenvolver um movimento padrão e um movimento no modo de força do robô. As instruções de envio de informações possibilitaram a aquisição das posições ao longo das trajetórias no computador. A comparação das trajetórias nos dois tipos de modo de operação, permitiu avaliar o desvio das trajetórias executadas em relação `as trajetórias padrão.
In this dissertation, a state-of-the-art survey was carried out on collaborative robots developed for application in physiotherapy treatments on the upper limb and a solution was developed for application in physiatric treatments, using the UR5 robotic manipulator and a computer. In this sense, a Python program and a set of programs in Polyscope, the robot’s software, were developed. For the application of both programs, a piece was designed and printed, simulating a handle, to be attached to the end of the robot. About the first program, communication was established between the computer and the robot. Instructions were sent for trajectories’ execution and other instructions were developed so the robot could send positions’ values to the computer, along the executed trajectories. Regarding the set of programs developed in Polyscope, exercises were defined to perform flexion and extension of the shoulder and elbow. A program corresponds to a movement of each joint. Each program allowed to develop a standard movement and a movement in the robot force mode. The instructions for sending information made it possible to acquire the positions along the trajectories on the computer. The comparison of the trajectories in the two types of operation mode, allowed to evaluate the deviation of the executed trajectories in relation to the standard trajectories.
In this dissertation, a state-of-the-art survey was carried out on collaborative robots developed for application in physiotherapy treatments on the upper limb and a solution was developed for application in physiatric treatments, using the UR5 robotic manipulator and a computer. In this sense, a Python program and a set of programs in Polyscope, the robot’s software, were developed. For the application of both programs, a piece was designed and printed, simulating a handle, to be attached to the end of the robot. About the first program, communication was established between the computer and the robot. Instructions were sent for trajectories’ execution and other instructions were developed so the robot could send positions’ values to the computer, along the executed trajectories. Regarding the set of programs developed in Polyscope, exercises were defined to perform flexion and extension of the shoulder and elbow. A program corresponds to a movement of each joint. Each program allowed to develop a standard movement and a movement in the robot force mode. The instructions for sending information made it possible to acquire the positions along the trajectories on the computer. The comparison of the trajectories in the two types of operation mode, allowed to evaluate the deviation of the executed trajectories in relation to the standard trajectories.
Description
Keywords
Fisioterapia Tratamentos fisiátricos Robôs colaborativos Polyscope Physiotherapy Robotics Python