List of Projects
List of projects that had been realized by the author, ordered by date.
* 2019: 3D Printing Using KUKA IIWA, click here for media
The development of the hardware and the control software for using KUKA IIWA robot as a 3D printer (video demonstrator is available here). Using robots for performing 3D printing offers various advantages, of which is the ability to control the orientation of the extruder, in turn allowing to produce shapes that can not be produced with conventional machines. Another advantage is related to the ability to produce bigger objects when using a robot, since that the working area of robots is bigger than its counterpart of conventional printing machines. In addition, by installing the robot on a gantry the working area can be extended further.
* 2018: Dynamic Dental Arm, click here for media
The development of the control software for the dynamic dental arm, the Dynamic Dental Arm, is a robotic arm that is used in dental clinics for filming dental operations, the developed software allows the dentist to control the camera at the EEF in friendly way, using a 6D control joystick and external buttons.
* 2017: MATLAB toolbox for realtime control of Lbr KUKA iiwa robot, for videos click here.
The development of a toolbox for Matlab to control KUKA iiwa robots, the user can control the robot from Matlab, several control functionalities are supported: (1) realtime control, (2) point to pint control, (3) data acquisition from the robot,
(4) Controlling the outputs of the IO connectors on the robot is also supported.
With only a reasonable knowledge of Matlab the utilizer can move/use the Lbr manipulator. Without a need for a prior programming knowledge of the Sunrise operating system installed on the industrial-controller.
The software is available at Github, for download click here.
* 2017: Collision avoidance for collaborative robotics, for videos click here.
The development of a realtime collision avoidance algorithm for KUKA iiwa robotic manipulator.
This work was realized during my works at Colrobot project, a European research project for the development of smart manipulator, the manipulator is going to be utilized for aerospace industry, and automobile industry.
Colrobot website click here.
Colrobot video click here.
* 2015: Client/Server interface with MySql database, for videos click here.
During my work at EFACEC, an engineering Portuguese company,I had to develope a Cliet/Server user-friendly program, this program is used to manage a MySql database. The program was written in C#.
The project requirements were:
1- Development of a MySql database, that shall run on the company's server.
2- A user friendly program that can is installed on the company's computer's, such that each of the employees can run the program on his/her computer, connect to a data base over the net work, where they can add data, export the data or import it, modify it, do analysis on it, print reports, use filters ...etc.
* 2014: Piping design software, for videos click here.
This is a plug in program for inventor, the program was written in VB.net. I had to develop the program as a part of my work for EFACEC, an engineering company in Portugal , the program is used to automate piping designs according to DIN standard, as such, increasing the productivity of the employee, by automating all of the tedious and repetitive tasks, allowing the drafter to focus on other tasks.
* 2011: Total fabrication of a laser CNC machine, for a video showing the machine cutting on wood click here, or here, for another video where the machine is engraving on glass click here.
Duration eight months: total engineering and fabrication of a laser cutting CNC machine, the machine cuts thin wood and paper, the unique feature about this machine is the control system which was totally engineered from scratch I used only an old computer and VB6 compiler physical laws and mathematics, the algorithm used was very simple yet unique, no third party software was used, the algorithm can generate interpolations along any mathematically represented curve, there is no need for pre-segmentation of the path.
This is all was done when I was undergraduate, while I was studying, attending classes at the university in the morning, and fabricating the machine during the evening.
For videos and pictures please visit the machine’s web-page, click here.
The development of the hardware and the control software for using KUKA IIWA robot as a 3D printer (video demonstrator is available here). Using robots for performing 3D printing offers various advantages, of which is the ability to control the orientation of the extruder, in turn allowing to produce shapes that can not be produced with conventional machines. Another advantage is related to the ability to produce bigger objects when using a robot, since that the working area of robots is bigger than its counterpart of conventional printing machines. In addition, by installing the robot on a gantry the working area can be extended further.
* 2018: Dynamic Dental Arm, click here for media
The development of the control software for the dynamic dental arm, the Dynamic Dental Arm, is a robotic arm that is used in dental clinics for filming dental operations, the developed software allows the dentist to control the camera at the EEF in friendly way, using a 6D control joystick and external buttons.
* 2017: MATLAB toolbox for realtime control of Lbr KUKA iiwa robot, for videos click here.
The development of a toolbox for Matlab to control KUKA iiwa robots, the user can control the robot from Matlab, several control functionalities are supported: (1) realtime control, (2) point to pint control, (3) data acquisition from the robot,
(4) Controlling the outputs of the IO connectors on the robot is also supported.
With only a reasonable knowledge of Matlab the utilizer can move/use the Lbr manipulator. Without a need for a prior programming knowledge of the Sunrise operating system installed on the industrial-controller.
The software is available at Github, for download click here.
* 2017: Collision avoidance for collaborative robotics, for videos click here.
The development of a realtime collision avoidance algorithm for KUKA iiwa robotic manipulator.
This work was realized during my works at Colrobot project, a European research project for the development of smart manipulator, the manipulator is going to be utilized for aerospace industry, and automobile industry.
Colrobot website click here.
Colrobot video click here.
* 2015: Client/Server interface with MySql database, for videos click here.
During my work at EFACEC, an engineering Portuguese company,I had to develope a Cliet/Server user-friendly program, this program is used to manage a MySql database. The program was written in C#.
The project requirements were:
1- Development of a MySql database, that shall run on the company's server.
2- A user friendly program that can is installed on the company's computer's, such that each of the employees can run the program on his/her computer, connect to a data base over the net work, where they can add data, export the data or import it, modify it, do analysis on it, print reports, use filters ...etc.
* 2014: Piping design software, for videos click here.
This is a plug in program for inventor, the program was written in VB.net. I had to develop the program as a part of my work for EFACEC, an engineering company in Portugal , the program is used to automate piping designs according to DIN standard, as such, increasing the productivity of the employee, by automating all of the tedious and repetitive tasks, allowing the drafter to focus on other tasks.
* 2011: Total fabrication of a laser CNC machine, for a video showing the machine cutting on wood click here, or here, for another video where the machine is engraving on glass click here.
Duration eight months: total engineering and fabrication of a laser cutting CNC machine, the machine cuts thin wood and paper, the unique feature about this machine is the control system which was totally engineered from scratch I used only an old computer and VB6 compiler physical laws and mathematics, the algorithm used was very simple yet unique, no third party software was used, the algorithm can generate interpolations along any mathematically represented curve, there is no need for pre-segmentation of the path.
This is all was done when I was undergraduate, while I was studying, attending classes at the university in the morning, and fabricating the machine during the evening.
For videos and pictures please visit the machine’s web-page, click here.