Integracija beskontaktnog uređaja za digitalizaciju oblika i mjerenje topologije površine

master's thesis

• Title (english): Integration of optical 3d scanning instrument
• Author: Mislav Požgaj
• Mentor: Tomislav Staroveški (mentor)
• Granter: University of Zagreb; Faculty of Mechanical Engineering and Naval Architecture; Zagreb
• Defense date and country: 2023-07-20, Croatia
• Scientific / art field, discipline and subdiscipline: TECHNICAL SCIENCES; Mechanical Engineering

Abstract

U ovom je radu opisan proces integracije beskontaktnog uređaja za digitalizaciju oblika i mjerenje topologije površine, Atos 5X, s robotom ABB IRB4600. Prikazano je programsko rješenje za komunikaciju mjernog uređaja s upravljačkim sustavom robota pomoću računalne mreže temeljene na TCP/IP protokolu. Programski kod koji se izvršava na mjernom uređaju napisan je u programskom jeziku Python, dok je programski kod koji se izvršava na robotu napisan u programskom jeziku RAPID. U drugom dijelu rada prikazano je predloženo rješenje automatizacije procesa kalibracije mjernog uređaja Atos 5X. Predloženo je mjesto za pozicioniranje kalibracijskih ploča različitih veličina unutar postojeće robotske ćelije, a izrađeno je i idejno konstrukcijsko rješenje naprave za prihvat kalibracijskih ploča. Izrađene su simulacije u dvjema aplikacijama, RoboDK i RobotStudio, kojima je izrađena analiza dohvatljivosti robota i testiranje programskog koda. Na kraju rada prokomentirani su dobiveni rezultati programskog rješenja i doneseni zaključci .

Abstract (english)

This paper describes the integration of the GOM Atos 5X measurement device with the ABB IRB 4600 robot. An overview of the software solution developed for communication between the measurment device and the robot using a computer network based on the TCP/IP protocol is given. The program code to be run on the measurement device was written in the Python programming language, while the program code to be run on the robot was written in the RAPID programming language. In the second part of the paper, the proposed solution for automating the calibration process of the Atos 5X measuring device is presented. A place for positioning calibration plates of various sizes within the existing robotic cell is presented, and a conceptual design of a holding device for the calibration plates is proposed. A simulation is performed in two applications, RoboDK and RobotStudio, which were used for a reachabillity analysis and testing of the program code. Finally, the obtained results of the software solution and the conclusions reached are discussed.

• Keywords: Atos 5X; integracija; kalibracija; ABB IRC5
• Keywords (english): Atos 5X; integration; calibration; ABB IRC5
• Language: croatian
• URN:NBN: urn:nbn:hr:235:329797
• Study programme: Title: Mechanical Engineering; Study programme type: university; Study level: graduate; Academic / professional title: magistar/magistra inženjer/inženjerka strojarstva (magistar/magistra inženjer/inženjerka strojarstva)
• Type of resource: Text
• File origin: Born digital
• Access conditions: Open access
• Created on: 2023-07-17 16:28:45