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Design of a Universal Digital-Twin for the EDUset ONE Robotic Cell
Hrubý, Tomáš ; Hůlka, Tomáš (referee) ; Lacko, Branislav (advisor)
This thesis focuses on the creation of a digital twin for the EDUSet ONE robotic cell, which is part of the Intemac research centre. The theoretical part introduces the concept of Industry 4.0 and describes its sub-elements. The following part of the theory is dedicated to the digital twin, its history, definition and types. It also includes examples of applications in several different sectors of human activity. The next chapter explores the available visualization environments for creating robotic applications. The last theoretical part of the thesis focuses on the robotic cell and its components, which consist mainly of the UR10e collaborative robotic arm and a 5-axis CNC milling machine. The actual solution includes the creation of the twin, which consists of the modification of CAD models and development in Unity. Integral to the practical implementation of the digital twin is the design of the robotic cell scene, the implementation of a wide range of subroutines, a user-friendly interface and an OPC UA client solution for system integration with a Siemens programmable logic controller (PLC).
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Human-machine collaboration - using haptic device
Kotrba, Tomáš ; Parák, Roman (referee) ; Juříček, Martin (advisor)
The bachelor's thesis focuses on the integration of the SpaceMouse Module haptic device with the collaborative robotic arm UR3 CB3 through the development of a software application in Python. The aim is to create software that enables smooth communication between these devices and implements methods for processing and filtering signals obtained from the SpaceMouse. The theoretical part includes the basics of collaborative robotics and haptic technologies, explaining their principles and describing the current state. The practical part details the process of integrating the UR3 cobot and the SpaceMouse haptic device. It presents the results of experiments in selecting a suitable filter for data filtering from the SpaceMouse.
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Human-machine collaboration - using speech processing
Kisler, Štěpán ; Hůlka, Tomáš (referee) ; Juříček, Martin (advisor)
This bachelor's thesis focuses on the design and implementation of a voice control system for the UR3 CB series collaborative robot from Universal Robots, aiming to simplify human-robot interaction. The introduction provides an overview of collaborative robotics, including its history, successful applications, and the possibilities of programming collaborative robots. Additionally, it explores speech recognition technology, covering its applications, history, and methods. The practical section compares existing speech recognition systems and selects the most suitable one for robot voice control. It also details the development of a voice control program in Python and the testing of the entire system, both in simulation and real-world conditions in a robotics laboratory.
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Automated classification cell
Lahoda, Vlastimil ; Chromý, Adam (referee) ; Burian, František (advisor)
To optimize production at Tyco Electronics Czech s.r.o. I designed and implemented an automated classification cell with a collaborative manipulator Universal Robots UR5e and a Cognex camera system. The classification cell is supposed to pick up the loose parts and then optically test them, sorting the parts into output binders following the inspection results. First of all, I had to learn programming language for Universal Robots manipulators and Cognex vision system. Next step was to design and draw an electrical diagram. According to the diagram, I connected the cabinet and other peripherals. I also programmed an algorithm controlling the manipulator arm and inspecting of both cameras. Finally, I successfully tested the functionality of the entire classification cell.
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Utilization of Robotic Operating System (ROS) for control of collaborative robot UR3
Juříček, Martin ; Matoušek, Radomil (referee) ; Parák, Roman (advisor)
The aim of the bachelor's thesis is to create a control program, its subsequent testing and verification of functionality for the collaborative robot UR3 from the company Universal Robots. The control program is written in python and integrates control options through the Robotic Operating System, where a defined point can be reached using pre-simulated trajectories of Q-learning, SARSA, Deep Q-learning, Deep SARSA, or using only the MoveIT framework. The thesis deals with a cross-section of the topics of collaborative robotics, Robotic Operating System, Gazebo simulation environment, feedback and deep feedback learning. Finally, the design and implementation of the control program with partial parts is described.
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Universal Robots UR3 - communication between the robot and PLC
Augustin, Luboš ; Lacko, Branislav (referee) ; Lang, Stanislav (advisor)
This bachelor thesis deals with the issue of communication between a collaborative robot UR3 from Universal Robots and a PLC from B&R. Through a motion task, the thesis demonstrates the establishment of communication between the robot and the PLC using the PROFINET communication standard. In addition to the implementation of the communication, the thesis also focuses on research about robotics, PROFINET protocol, B&R and Universal Robots.
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Průzkum trhu s robotickými rukami
SWACZYNA, Jakub
This bachelor thesis aims to acquaint readers with the issue and the market of robotic arms. It includes an overview of robotic systems, their distribution and use. The basic types of robots and their kinematic description will be introduced. In the second part, the individual parts of robotic hands responsible for their proper function and necessary for the performance of work applications will be introduced in more detail. The third part of the work presents some of the companies that can be found on the world market with robotic arms, the work will briefly introduce their background, history, but mainly the offer and products.
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Využití měkkého uchopovače pro manipulaci objektů
Drajsajtl, Jakub
The thesis focuses on the process of commissioning and testing of the Soft Robotics soft gripper and Universal Robots colaborative arm UR5e. The literary research contains an overview of works on topics of soft, adaptive gripping and also an overview of grippers that can be used to manipulate with food products. The main part consists of description of the connecting, commissioning and setting the soft gripper. Making a basic installation and program for the colaborative arm. Making of the manipulation taks in order to test the gripper and sumarization of the results.
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Utilization of Robotic Operating System (ROS) for control of collaborative robot UR3
Juříček, Martin ; Matoušek, Radomil (referee) ; Parák, Roman (advisor)
The aim of the bachelor's thesis is to create a control program, its subsequent testing and verification of functionality for the collaborative robot UR3 from the company Universal Robots. The control program is written in python and integrates control options through the Robotic Operating System, where a defined point can be reached using pre-simulated trajectories of Q-learning, SARSA, Deep Q-learning, Deep SARSA, or using only the MoveIT framework. The thesis deals with a cross-section of the topics of collaborative robotics, Robotic Operating System, Gazebo simulation environment, feedback and deep feedback learning. Finally, the design and implementation of the control program with partial parts is described.
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Automated classification cell
Lahoda, Vlastimil ; Chromý, Adam (referee) ; Burian, František (advisor)
To optimize production at Tyco Electronics Czech s.r.o. I designed and implemented an automated classification cell with a collaborative manipulator Universal Robots UR5e and a Cognex camera system. The classification cell is supposed to pick up the loose parts and then optically test them, sorting the parts into output binders following the inspection results. First of all, I had to learn programming language for Universal Robots manipulators and Cognex vision system. Next step was to design and draw an electrical diagram. According to the diagram, I connected the cabinet and other peripherals. I also programmed an algorithm controlling the manipulator arm and inspecting of both cameras. Finally, I successfully tested the functionality of the entire classification cell.
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