Demonstrační úloha robota ABB YuMi
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Date
2021-06-16
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Abstract
V bakalářské práci je popsán současný stav využití kolaborativních robotů se zaměřením na typIRB 14000 YuMi, který nabízí firma ABB. V návaznosti na to jsou uvedeny možné způsobyprogramování. Jsou popsány možnosti programu RobotStudio od firmy ABB. Byly zjištěnynejčastější typy aplikací kolaborativních robotů v průmyslu, jsou uvedeny příklady úlohvyužívajících kobota YuMi. Je navržena a realizována demonstrační úloha pro kobota YuMi IRB14000, který je instalovaný v prostorách Technické univerzity v Liberci (TUL). V navržené úloze semanipuluje s objekty, které jsou rozpoznávány kamerou. Realizace je provedena offlineprogramováním, přičemž se ověřuje funkčnost simulací na modelu. V online realizaci se využíváfunkce Integrated Vision System, která je součástí programu RobotStudio. Demonstrační úloha bylaotestována na pracovišti TUL. Doporučuje se pracoviště vybavit barevnou kamerou.
Bachelor thesis describes current use of collaborative robots, focusing on IRB 14000 YuMi type,offered by the ABB company. Following that are stated possible ways of programming cobots. TheRobotStudio program by ABB company was highlighted. The most common types of collaborativerobots applications were listed. Examples of tasks utilizing cobot YuMi are given. Demonstrationtask for IRB 14000 YuMi cobot is proposed and implemented in Technical University of Liberec(TUL) premises. The proposed task includes manipulation with objects, which are recognised usingcamera. Implentation is carried out using mainly offline programming and its functionality isverified on simulation models. Online part of implementation uses Integrated Vision Systemfunction, which is part of RobotStudio program. Demonstration task was tested at work station atTUL. Equipping the workstation with color camera is recommended.
Bachelor thesis describes current use of collaborative robots, focusing on IRB 14000 YuMi type,offered by the ABB company. Following that are stated possible ways of programming cobots. TheRobotStudio program by ABB company was highlighted. The most common types of collaborativerobots applications were listed. Examples of tasks utilizing cobot YuMi are given. Demonstrationtask for IRB 14000 YuMi cobot is proposed and implemented in Technical University of Liberec(TUL) premises. The proposed task includes manipulation with objects, which are recognised usingcamera. Implentation is carried out using mainly offline programming and its functionality isverified on simulation models. Online part of implementation uses Integrated Vision Systemfunction, which is part of RobotStudio program. Demonstration task was tested at work station atTUL. Equipping the workstation with color camera is recommended.
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kolaborativní robot, programování, YuMi, demonstrační úloha, RobotStudio, collaborative robot, programming, YuMi, demonstration task, RobotStudio