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Virtual commissioning of multi-axis manipulator
Slavík, Vojtěch ; Radil, Filip (referee) ; Štěpánek, Vojtěch (advisor)
This thesis deals with the design and virtual commissioning of multi-axes manipulator, that will be able to create figures using spherical segments according to a template. In the design, emphasis is placed on the visual appearance and simple operation of the manipulator. The thesis presents the design of the model, methods for inverse kinematics solving, communication of used software and the robot control.
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Virtual commissioning of the robotic workplace for workpiece manipulation
Lorenc, Tomáš ; Szabari, Mikuláš (referee) ; Bražina, Jakub (advisor)
The diploma thesis deals with the issue of virtual commissioning of the workplace and the commissioning of communication channels needed for this purpose. The theoretical part describes the benefits of virtual commissioning, robot and PLC programming and effectors for robots. The practical part deals with the design of the final robot effector, virtual commissioning using the programs Process Simulate and TwinCAT 3, communication between programs and creation of programs for the workplace.
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OPC UA Client for "Sorter of Boxes" Laboratory Model
Magáth, Marek ; Arm, Jakub (referee) ; Jirgl, Miroslav (advisor)
This bachelor’s thesis is about OPC comunication protocol, specifically the newest specification OPC UA (Unified Architecture). By creating OPC UA client application using the OPC UA .NET libraries offered by the OPC Foundation for free. Setting up the OPC server on the S7-1500 PLC using the TIA Portal V14. Part of the work is done by modifying model Třídička beden, specifically with the modification motor control and creating more complex control task for this model. Next, by creating a control program in the Ladder Diagram, where I specifically describe some solutions of problems. And also by creating visualization on the touch panel TP700 Comfort. The visualization is created in WinCC, which is part of the TIA Portal. Finally, I describe how to link the OPC UA client created together with the touch panel and the PLC that control this model. And how to collect or observe the process data.
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OPC UA client for communication with PLC B&R Automation
Staněk, Lukáš ; Parák, Roman (referee) ; Lang, Stanislav (advisor)
This thesis is a research of the OPC UA communication protocol with a subsequent example of its implementation in the creating client. The research begins with historical development and then focuses on to the theoretical analysis of OPC UA, these outputs are implemented in the client application OPC UA. This client, which is output of this thessis, then demonstrates the practical use of OPC UA. In this thesis are shown suitable procedures for development of applications, which are generally valid.
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Asset Administration Shell for PLC
Maslowski, Jakub ; Arm, Jakub (referee) ; Benešl, Tomáš (advisor)
This bachelor work gradually summarizes the findings regarding I4.0, as well as its basic parts (AAS, RAMI and DT). Subsequently, it focuses on the description of AAS with regard to the necessary compromises from its original idea with the aim of its successful implementation in PLC, which represents some limitations. The work includes solutions of suitable communication protocols for AAS in PLC. The practical part focuses on the implementation of AAS in PLC from Siemens S7-1200 series using OPC UA methods. SiOME and UaExpert programs are used in the creation. The thesis contains detailed instructions for replication of AAS implementation together with suggestions for possible improvements and its benefits in practise.
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Demonstrative manufacturing system controlled by MES utilizing AAS
Černocký, Petr ; Kaczmarczyk, Václav (referee) ; Arm, Jakub (advisor)
This work examines today's modern possibilities for production management. More specifically, we focus on MES and its integration within the concept of industry 4.0 using AAS. Furthermore, a search of available open-source MES systems and their description is performed. After their commissioning, their suitability for further use is discussed. There is also an analysis of tools for creating virtual models. The IMES application, which was subsequently slightly modified, and the RobotStudio virtual model creation tool are then selected from these analyzes. This application and tool are then used to implement virtual line control using a separate MES and to basic control using AAS.
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Generating Tree Structures for Testing of Information Systems
Rozsíval, Michal ; Hruška, Martin (referee) ; Smrčka, Aleš (advisor)
The work aims to create a tool for automated testing of information systems. It creates messages similar in structure to those in the communication of existing systems. The program reads provided communication record according to configuration and saves the individual messages in a uniform form. It splits the saved messages into groups and abstracts them into a suitable form for a subsequent generation of new random test messages based on a combinatorial testing with Pair-Wise coverage. The tool supports communication using the REST API and OPC UA protocols and structured data in XML and JSON . The program was tested by processing real communication records.
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Design of the endpoint trajectory of the robotic arm using the virtual point method
Bubeník, Ľubomír ; Blaha, Petr (referee) ; Pivoňka, Petr (advisor)
The diploma thesis deals with a new approach to create a robotic arm trajectory. The first part descibes existing methods of trajectory planning. The second part shows virtual point method, implementation of the trajectory planning into the web environment and trajectory generation. Third part descibes the virtual robot model and designed comunnication protocols. The fourth part shows grafical user interface and his posibilities. The last part presents implemention of web aplication into industrial visualization.
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Communication Interface for Industry 4.0 testbed
Magáth, Marek ; Fiedler, Petr (referee) ; Kaczmarczyk, Václav (advisor)
This diploma thesis deals with the creation of a general communication interface between the smart product and process cells within test bed Barman. The aim is to create distributed production according to the Industry 4.0 concept, where each product manages it’s production itself. The first part deals with the analysis of test bed, where are discussed requirements and method of production. Then with the selection of a communication protocol that would meet Industry 4.0 and distributed control requirements. The result of the research was OPC UA communication protocol. Using this protocol, the product and the process cell will communicate with each other. I chose the appropriate implementation for the selected protocol to be used for creating communication modules of the product and the process cell. Production data will be stored in an RFID chip located in the product. Part of the work is devoted to creation this data structure, which contains the recipe as well as production state data. Creation of RFID reader is the work of another student, with whom I solved the method of data exchange between application of the reader and the communication module of the product. When creating a communication module of the process cell, I solved the design of an information model that describes the entire process cell, and the dynamic creation of nodes in the address space. I have mentioned a few examples of how I worked with a selected implementation of OPC UA and how I used it in both applications. I implemented decentralized search of another process cells in the local network. This feature was easy to implement with OPC UA, specifically with the LDS-ME service. I solved the control of production for the communication module of the product and method of communication with the process cell. And in the last part I deal with manual, which describes how to compile projects correctly, specifically on the Linux operating system, and I have described a way to test the whole solution together with the results.
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Virtual commissioning of the machining workplace
Valach, Tomáš ; Štěpánek, Vojtěch (referee) ; Bražina, Jakub (advisor)
This diploma thesis deals with virtual commissioning of production system for robotic milling, which is located in the laboratories of the Institute of Production Machines, Systems and Robotics at the BUT. In the theoretical part of this thesis is described the issue of virtual commissioning, uses of robot systems in milling operations and software usable for virtual commissioning. Practical part of the thesis contains description to creating CAM operations, the creation of 3D model of workplace and PLC program and its HMI. Programs Fusion 360, Robot studio 2021, TwinCAT and OPC UA were used for the actual implementation.
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