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Collaborative robot control by PLC
Novotný, Jiří ; Benešl, Tomáš (referee) ; Macho, Tomáš (advisor)
This bachelor thesis deals with the control of a collaborative robot using a PLC. To implement this work is used collaborative robot YuMi from ABB and PLC from Siemens of latest series S7-1500. We will get acquainted with products which have been used in project and with the development environment for PLC (TIA Portal) and for robot (RobotStudio). We define the requirements for the communication interface between the robot and the PLC. We will describe a demonstrating task requiring control of a robot using a PLC. The task demonstrates a real application for the end user. Then we implement PROFINET communication interface and implement the described task for the robot. The final solution is then tested in real production line.
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Collaborative robots
Čefelín, David ; Knoflíček, Radek (referee) ; Vetiška, Jan (advisor)
This bachelor thesis summarizes the knowledge from the field of collaborative robotics. The research part deals with cooperation with collaborating robots, programming and using the collaborative robots in practice. In addition, the most well-known collaborative robots and their most important parameters are presented. In the practical part, the simple example of off-line programming with individual is shown.
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Voice control of cooperative robots
Bubla, Lukáš ; Němec, Zdeněk (referee) ; Lacko, Branislav (advisor)
The aim of the diploma thesis was to create a program with which it will be possible to control a collaborative robot by voice. First chapters contain a search of the current state in the field of collaborative robotics in terms of safety, work efficiency, robot programming and communication with the robot. Furthermore, the issue of machine processing of the human voice is discussed. In practical part was proposed an experiment in which we work with off-line simulation of UR3 robot in PolyScope 3.15.0 software. This simulation was linked to a Python program which uses SpeechRecognition and urx libraries. Simple voice instructions have been designed to move robot to defined position.
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Design and implementation of an automated robotic workplace for controlled plant cultivation
Kazda, Jan ; Adámek, Roman (referee) ; Věchet, Stanislav (advisor)
This bachelor thesis will deal with the design and implementation of a robotic workplace for controlled plant cultivation. This system will be operated by 4 robots. The communication between the robots will be provided through a Programmable Logic Automaton. Calibration processes will be developed for the robots to achieve the required working accuracy of the robot. In order to perform these calibrations, calibration marks will be created for the cassettes that house the petri dishes. The cassettes are described as carriers for the individual petri dishes. Finally, verification of the real functionality of the system will be addressed.
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Design and aplication of collaboration robots
Vaněk, Štěpán ; Vetiška, Jan (referee) ; Knoflíček, Radek (advisor)
This bachelors thesis aims at principles of functions of collaborative robots, including its design and potential applications. Resolved issue consists of safety, programming and current stage of knowledge of both design and application, including progressive bearings and potential way of innovation in stated fields. The conclusion of the thesis is an evaluation of all aspects and a comparison with an industrial robot.
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Risks of workplaces with collaborative robots
Vítek, Ondřej ; Konečný, Antonín (referee) ; Lacko, Branislav (advisor)
This bachelor’s thesis deals with the analysis of safety standards and risks for industrial robots. Information regarding the risks of robots, their workplaces, and techniques for their assessment are processed in a research way. In the beginning, terms important for robotics are defined and clarified. Furthermore, the work will summarize essential standards that concern robots. Subsequently, individual parts of ISO standards and other specifications related to industrial and collaborative robots will be analyzed. In the last part, the bachelor’s thesis is devoted to measures for the application of standards in practice. Possible risk mitigations and appropriate recommendations are described here. Measures and safety of robots with regard to connection to the computer network will be mentioned thematically.
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Collaborative robot UR5e interface library for Matlab/Simulink
Sladký, Adam ; Adámek, Roman (referee) ; Brablc, Martin (advisor)
This thesis describes the process of creating a function library which will enable easy control of a UR5e robot and its model using the Matlab environment. It was made using object based programming. Library functions were designed for two separate modes, each controlling either the robot or the model. Functions for RG2 gripper control and for collision detection, which prevents the robot from colliding with itself, are also part of the library. The resulting library is designed in a way that allows the robot to be easily used for measuring, project work or as a teaching tool by simply adding its functions to already existing data processing scripts or those performing other calculations. Finally, three example tasks are presented to demonstrate the application of this library.
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Collaborative robot with adaptive grippers
Vondráček, Jakub ; Appel, Martin (referee) ; Najman, Jan (advisor)
This bachelor thesis deals with collaborative robots and adaptive grippers with a focus on practical testing of the UR5 robot from Universal robots with adaptive grippers Onrobot RG2 and Robotiq 3F, which are available in the mechatronic laboratory of the Faculty of Mechanical Engineering of Brno University of Technology. In the first part of the work, a search is performed, which presents the basic issues of collaborative robots, adaptive grippers, force sensing, as well as the possibility of software simulation aimed at testing the available collaborative robot. The second part of the work presents the methodology and development of practical work with the robot, which is focused on testing all the basic functions of the robot on simple tasks. The last section of the thesis shows a simulation of a more complex robot task from engineering practice using selected software.
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Voice control of cooperative robots
Bubla, Lukáš ; Němec, Zdeněk (referee) ; Lacko, Branislav (advisor)
The aim of the diploma thesis was to create a program with which it will be possible to control a collaborative robot by voice. First chapters contain a search of the current state in the field of collaborative robotics in terms of safety, work efficiency, robot programming and communication with the robot. Furthermore, the issue of machine processing of the human voice is discussed. In practical part was proposed an experiment in which we work with off-line simulation of UR3 robot in PolyScope 3.15.0 software. This simulation was linked to a Python program which uses SpeechRecognition and urx libraries. Simple voice instructions have been designed to move robot to defined position.
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