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Programming tools for robotic workstations for cold metal deposition
Odehnal, Martin ; Šubrt, Kamil (referee) ; Vetiška, Jan (advisor)
The thesis focuses on the development of software for a robotic workstation designed for the rapid preparation of coating the surface of rotating parts using cold spray metal deposition technology. The cold spray workstation is located in the laboratories of the Institute of Materials Science and Engineering at the Faculty of Mechanical Engineering, Brno University of Technology. The developed application provides support for the institute's staff in experimental activities in this area. The theoretical part of the thesis aims to provide information to the processes associated with virtual commissioning, programming industrial robots, and the basics of cold spray technology. The practical part addresses the specific implementation of the software application and the integration of an external motor to the robotic controller via the PROFINET communication bus.
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Head-Mounted Display or Tablet? Device Usability in the Context of Programming Robotic Workplaces
Kníže, Josef ; Milet, Tomáš (referee) ; Bambušek, Daniel (advisor)
This thesis focuses on usability comparison of head-mounted display Microsoft HoloLens 2 and tablet in context of programming robotic workplace using augmented reality. The existing interfaces for these devices are analyzed, and a user experiment was designed and conducted to compare them, involving a total of 18 participants who tested and evaluated both devices in two iterations. Based on feedback from the first iteration, many changes were proposed and implemented in the HoloLens 2 interface. Key changes included porting the entire application to newest framework for mixed reality, programming through scene interaction, reworking robot placements, and adding parameter configuration and action placement through the robot. The new version of the interface was tested in the second iteration of experiments, revealing that users are 32,3 % faster when using HoloLens 2 and they rate usability and user experience better compared to tablet. Surprisingly, there was no significant difference measured in user mental or physical load between the devices.
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Robotic workplace safety
Kotlík, Jan ; Blecha, Radim (referee) ; Blecha, Petr (advisor)
The topic of the bachelor's thesis is the issue of the safety of the robotic system and its introduction to the market and into operation. It contains a system analysis of the solved problem, a proposal and justification of the chosen method of solution. Furthermore, the requirements of harmonized standards and the requirements of good technical practice are processed here, from which an editable list of requirements is compiled.
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Virtual commissioning of robotic loading of workpieces into the machine tool
Grünwaldová, Kristýna ; Knoflíček, Radek (referee) ; Vetiška, Jan (advisor)
This thesis deals with virtual commissioning of the manipulation station using a robot, while it is a replacement of a workplace that was originally operated by employees. The aim is to make production more efficient by means of robotic loading of workpieces into the machine tool. The thesis describes a sequence of stages that lead to the virtual commissioning of the robotized workpiece placement in the RobotStudio program so that the workplace can be automated. First, it was necessary to design a new concept for the original workplace, then to create this concept in the RobotStudio program, and then to operate the individual elements of the entire workplace and to create a sequence of actions connected to each other as it would be during real operation. In the thesis the connection with the real workplace was not considered, the workplace was put into operation only virtually.
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Virtual commissioning of a robotic learning production system
Baránek, Martin ; Štěpánek, Vojtěch (referee) ; Vetiška, Jan (advisor)
Diploma thesis deals with the virtual commissioning of a educational robotic workplace. The theoretical part of the thesis deals with the research of the current state of knowledge of the use of robots in industry, methods of their programming, possibilities of controlling robotic workplaces and methods of procedures for virtual commissioning of robotic workplaces. The practical part of the thesis is devoted to the virtual commissioning of the workplace in Tecnomatix Process Simulate, specifically the processing of the workplace model for simulation and creation of robotic programs, and the creation of PLC control and HMI in the TwinCAT 3 environment.
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Spatial Augmented Reality for Robotic Workplace
Štrof, Jakub ; Kapinus, Michal (referee) ; Materna, Zdeněk (advisor)
The focus of this work is to create projected user interface, which will complement AREditor, an application for robotic programming and also to calibrate Kinect and projector using existing calibration method. For calibration, I used the procam-calibration method, which uses projected Gray codes onto a chessboard to calculate calibration parameters. Thanks to it, virtual objects can be placed correctly into the real space. User interface was implemented using game engine Unity. By testing the interface, it was found that it helps the user to better grasp the relation between real and virtual space when placing virtual objects into the robotic workplace. It also raises user's awareness of the robot's movements when cooperating with it.
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Robotic Workplace Programming Using the HoloLens Headset
Kolařík, Petr ; Milet, Tomáš (referee) ; Bambušek, Daniel (advisor)
The bachelor thesis deals with the use of Microsoft Hololens 2 glasses in a robotic workplace. It follows the diploma thesis of ing. Simona Hiadlovská and the existing AREditor user interface connected to ARServer. The first goal of the work was to improve the way of adding objects at a greater distance. Three methods are proposed and compared for this problem: the first is adding at a fixed distance of one meter in the direction of the hand, the second is adding on a perpendicular line drawn from the point of contact between the pointer and the table and then adjusting the height by pulling the hand, and the last is adding also on a perpendicular line but adjusting the height by tapping. The second objective of the work was to devise a method of selecting one object from a cluster of objects. In this case, the methods of simple selection using the pointer, expanding objects from the surroundings and displaying an interactive list of objects are compared.
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Development of a universal cell for optical part inspection in a robotic workplace
Cahlík, Radim ; Rajchl, Matej (referee) ; Adámek, Roman (advisor)
Cílem této diplomové práce je vývoj univerzální buňky pro optickou kontrolu včetně softwaru pro detekci vad, který používá metody umělé inteligence. Dalším cílem je integrovat buňku do robotického pracoviště a otestovat ji na rozdílných dílech s různými vadami. První část práce popisuje vývoj konceptu optické buňky a její návrh. Poté pojednává o systému pro optickou kontrolu, počínaje popisem objektivu a kamery a konče analýzou kontrolního softwaru, který pro detekci vad využívá konvoluční neuronovou síť. Další část se zabývá vývojem robotického pracoviště včetně návrhu dvojosého robota a komunikace mezi zařízeními. Nakonec je rozebráno testování na dvou rozdílných dílech s cílem ověřit funkčnost.
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Design of the robotic work cell for the spot welding
Hrubeš, Kryštof ; Szabari, Mikuláš (referee) ; Bražina, Jakub (advisor)
This work deals with the design and creation of a virtual simulation of a robotic workplace for spot welding in the Tecnomatix Process Simulate. The aim of the work is to get acquainted with the issues of robotic workplaces, especially in the field of spot. Then, based on this knowledge, design a robotic work cell for welding two sheets. The whole process will then be simulated in the Tecnomatix Process Simulate and this simulation will serve as a demonstration in teaching.
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Digital commissioning of robotic machine tool operator
Tecl, Michal ; Szabari, Mikuláš (referee) ; Vetiška, Jan (advisor)
The diploma thesis deals with the issue of digital commissioning of robotic operation of CNC machine tools. In the research part, individual types of industrial robots are analysed, including their advantages and disadvantages for the given application. Furthermore, several software used for digital commissioning are described and the possibilities of communication between machine tools and robots are described. In the practical part, a model task of operating two CNC machines is created. A suitable robot, robot tools, part magazines are selected, and a 3D model of the entire workplace is processed. In the final part, both a program for the robot and a program for the PLC controlling the entire workplace will be created.
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