Industrial robots typically require very structured and predictable working environments, and explicit programming, in order to perform well. Therefore, expensive and time-consuming engineering work is a major obstruction when mediating tasks to robots. This thesis pres...

The field of robotics offers a wide array of estimation problems, ranging from kinematic and dynamic calibration to pose estimation and computer vision. This thesis presents a set of methods to solve estimation problems encountered in robotics, with an emphasis on indus...

With more advanced manufacturing technologies, small and medium sized enterprises can compete with low-wage labor by providing customized and high quality products. For small production series, robotic systems can provide a cost-effective solution. However, for robots t...

Friction Stir Welding (FSW) is a modern welding process that joins materials by frictional heat, generated by a rotating tool. Unlike other welding processes, the material never melts, which is beneficial for the weld properties. FSW is already widely adopted in several...

Industrial robots are traditionally programmed using only the internal joint position sensors, in a sense leaving the robot blind and numb. Using external sensors, such as cameras and force sensors, allows the robot to detect the existence and position of objects in an ...

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