Upravljanje robotom temeljem asinkronog prenošenja programske podrške

undergraduate thesis

• Title (english): Control of a robot based on asynchronous program transmission
• Author: Filip Rebić
• Mentor: Tomislav Stipančić (mentor)
• Granter: University of Zagreb; Faculty of Mechanical Engineering and Naval Architecture; Zagreb
• Defense date and country: 2024-09-26, Croatia
• Scientific / art field, discipline and subdiscipline: TECHNICAL SCIENCES; Mechanical Engineering

Abstract

Ovaj rad istražuje primjenu robota UR5 u simulacijskom okruženju RoboDK, s naglaskom na automatizaciju, programiranje i integraciju Python skripti. Rad se bavi osnovama koordinatnih sustava robota, koji su ključni za precizno upravljanje i simulaciju. Također, obrađuje primjenu hvataljki koje se koriste za manipulaciju predmetima. Opisuje se RoboDK, njegov način rada, ključne značajke i prednosti koje donosi u simulaciji robotskih procesa. Posebna pažnja posvećena je asinkronom prijenosu podataka i konceptu digitalnog blizanca, omogućujući naprednu integraciju virtualnih simulacija s fizičkim robotima. Na kraju, naglašava se uloga Pythona u RoboDK-u, koji omogućuje brzu prilagodbu, automatizaciju procesa i razvoj složenih algoritama, čime se značajno unapređuje funkcionalnost simulacija i njihova primjena u industriji. Kao završni dio rada, uspješno je izrađena simulacija pokreta robota UR5 u RoboDK-u, koja je potom testirana na stvarnom robotu, čime su potvrđene točnost i učinkovitost razvijenih algoritama.

Abstract (english)

This thesis explores the application of the UR5 robot within the RoboDK simulation environment, focusing on automation, programming, and the integration of Python scripts. It addresses the fundamentals of robot coordinate systems, which are crucial for precise control and simulation. The paper also examines the use of end-effectors for object manipulation. It provides a comprehensive description of RoboDK, detailing its operational principles, key features, and the benefits it brings to robot process simulation. Special attention is given to asynchronous data transfer and the digital twin concept, facilitating advanced integration between virtual simulations and physical robots. Additionally, the role of Python in RoboDK is highlighted, showcasing its capability for rapid adaptation, process automation, and development of complex algorithms, thereby significantly enhancing the functionality of simulations and their industrial applications. As a concluding part of the work, a simulation of the UR5 robot's movements was successfully created in RoboDK and subsequently tested on the actual robot, confirming the accuracy and effectiveness of the developed algorithms.

• Keywords: UR5 robot; RoboDK; Python skripte; asinkroni prijenos podataka; digitalni blizanac; simulacija; integracija
• Keywords (english): UR5 robot; RoboDK; Python scripts; asynchronous data transfer; digital twin; simulation; integration
• Language: croatian
• URN:NBN: urn:nbn:hr:235:329445
• Study programme: Title: Mechanical Engineering; Study programme type: university; Study level: undergraduate; Academic / professional title: sveučilišni/a prvostupnik/prvostupnica (baccalaureus/baccalaurea) inženjer/inženjerka strojarstva (sveučilišni/a prvostupnik/prvostupnica (baccalaureus/baccalaurea) inženjer/inženjerka strojarstva)
• Type of resource: Text
• File origin: Born digital
• Access conditions: Open access
• Created on: 2024-09-20 09:07:12