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Autonomous assembly using the UR5e robotic arm
 Cesnek, Martin ; Formánek, Martin (referee) ; Najman, Jan (advisor)
This bachelor thesis deals with the demonstration of the abilities of collaborative robots in practical use. These abilities are demonstrated in a task where the robot autonomously composes a predefined shape from LEGO cubes. The UR5e robot from universal Robots was used together with the OnRobot RG2 gripper to carry out this work. Communication with the robot is ensured by the Maltab environment with the use of the library created at ÚMTMB from BUT FME. The first part of the work is devoted to getting acquainted with the used hardware and introducing the functions of the library together with setting up the communication between the robot and PC. There is also paid attention to the analysis of possible solutions to the problem of stacking LEGO cubes. The second part presents the methodology and elaboration of structural elements together with control software for robot motion control and data processing from sensors. The result is a demonstration in which the user enters the input parameters of a rectangular 3D shape according to which the robot autonomously composes the given shape.
Detailed record
Autonomous assembly using the UR5e robotic arm
 Cesnek, Martin ; Formánek, Martin (referee) ; Najman, Jan (advisor)
This bachelor thesis deals with the demonstration of the abilities of collaborative robots in practical use. These abilities are demonstrated in a task where the robot autonomously composes a predefined shape from LEGO cubes. The UR5e robot from universal Robots was used together with the OnRobot RG2 gripper to carry out this work. Communication with the robot is ensured by the Maltab environment with the use of the library created at ÚMTMB from BUT FME. The first part of the work is devoted to getting acquainted with the used hardware and introducing the functions of the library together with setting up the communication between the robot and PC. There is also paid attention to the analysis of possible solutions to the problem of stacking LEGO cubes. The second part presents the methodology and elaboration of structural elements together with control software for robot motion control and data processing from sensors. The result is a demonstration in which the user enters the input parameters of a rectangular 3D shape according to which the robot autonomously composes the given shape.
Detailed record

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3 Česnek, Michal
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