Vzájemná koordinace pohybu dvou robotů
Title Alternative:Relative coordination of movement for two robots
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Date
2008
Authors
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Publisher
Technická Univerzita v Liberci
Abstract
Cílem bakalářské práce bylo vytvořit několik úloh na vzájemnou koordinaci pohybů dvou robotů. Během koordinovaných pohybů se má provádět opracování obecného tvaru formy. Způsob opracování je typický pro průmyslové využití například pro nanášení lepidla, svařování a nebo obrušování. Pro opracování byl zvolen plastový výlisek. Práce obsahuje čtyři různé způsoby řešení pro opracování, které jsou podrobně popsány. Pro práci jsou použiti dva roboti od firmy ABB s označením IRB140 a IRB1400. Koncový bod prvního robota se pohybuje po obecné trajektorii výlisku a simuluje tak jeho opracování. Druhý robot zde nahrazuje externí zařízení, provádějící posun a natáčení výlisku, který má připevněný místo nástroje. Při tvorbě úloh je využito vývojové prostředí RobotStudio 4.0, ProgramMaker a dále programovacího jazyka Rapid. Úlohy popsané v této práci byly úspěšně odzkoušeny v laboratoři inteligentních robotů. Tato práce dále obsahuje postup pro kalibraci obou robotů. Obecnou metodu pro získání vzájemných pozic obou robotů. Použité kinematické vztahy související s touto prací. Dále jsou zde popsány vybrané instrukce jazyka Rapid, které jsou nezbytné pro řešení ukázkových úloh.
The aim of this bachelor thesis was a creation of few exercises on relative coordination of movement for two robots. During the coordination of this movement the working of common shape of the form. The method of working the pressing is typical for industrial usage for example for application of glue, welding and grinding-off. For working was elect molded plastic part. The thesis contains four different ways of solution for working, which are closely described. For a practical exercise were used two robots from a company ABB named IRB140 and IRB1400. The ending point of the first robot is moving over a common trajectory of pressing and simulates a working of the molded plastic part. The second robot substitutes external device which is making a movement and rotation of the molded plastic part, which is placed instead of a tool. For a creation of exercises is used the developing instrument RobotStudio 4.0, ProgramMaker and programming language Rapid. Practical exercises described in this thesis were successfully tested on a real control system in laboratory of the intelligent robots. And next this thesis contains a calibrating process procedure of robots. Common method for acquisition each other positions of robots. Used kinematic relations related with this thesis. And next there are described chosen instructions of the Rapid language which are necessary for solving sample exercises.
The aim of this bachelor thesis was a creation of few exercises on relative coordination of movement for two robots. During the coordination of this movement the working of common shape of the form. The method of working the pressing is typical for industrial usage for example for application of glue, welding and grinding-off. For working was elect molded plastic part. The thesis contains four different ways of solution for working, which are closely described. For a practical exercise were used two robots from a company ABB named IRB140 and IRB1400. The ending point of the first robot is moving over a common trajectory of pressing and simulates a working of the molded plastic part. The second robot substitutes external device which is making a movement and rotation of the molded plastic part, which is placed instead of a tool. For a creation of exercises is used the developing instrument RobotStudio 4.0, ProgramMaker and programming language Rapid. Practical exercises described in this thesis were successfully tested on a real control system in laboratory of the intelligent robots. And next this thesis contains a calibrating process procedure of robots. Common method for acquisition each other positions of robots. Used kinematic relations related with this thesis. And next there are described chosen instructions of the Rapid language which are necessary for solving sample exercises.
Description
katedra: MTI; přílohy: 1 CD; rozsah: 58 s.
Subject(s)
robot, abb, rapid, programmaker, koordinovaný pohyb, robot, abb, rapid, programmaker, coordination of movement