Fleksibilna primjena industrijskih robota temeljena na senzorima sile

undergraduate thesis

• Title (english): Flexible application of industrial robots based on force sensors
• Author: Antonio Ćuk
• Mentor: Marko Švaco (mentor)
• Granter: University of Zagreb; Faculty of Mechanical Engineering and Naval Architecture; Zagreb
• Defense date and country: 2024-09-24, Croatia
• Scientific / art field, discipline and subdiscipline: TECHNICAL SCIENCES; Electrical Engineering; Automation and Robotics

Abstract

U ovom radu opisane su i demonstrirane mogućnosti primjene industrijskog robota kolaborativne prirode FANUC CR-15iA i ugrađenog senzora sile FS-15iA. Kolaborativni roboti rade u okruženju s ljudima te je bitno da mogu detektirati kolizije s okolinom kako bi pružili što veću sigurnost okolini. Za detekciju kolizija koristi se senzor sile montiran na vrhu prirubnice robota, međutim senzor sile osim detektiranja kolizije omogućuje robotu izvršavanje raznih zadataka koji su bitni u industriji. Neke glavne primjene robota s ugrađenim senzorima sile su poliranje, brušenje i montaža. Svaka od ovih zadaća zahtjeva praćenje vrijednosti sile te njeno održavanje na zadanoj vrijednosti. U praktičnom dijelu rada napisan je programski kod za vođenje robota, traženje referentnih točaka te izradu novog korisničkog koordinatnog sustava na kojem se mogu demonstrirati neke od funkcija ugrađenog senzora sile. Proces je napisan kodom u programskom jeziku KAREL, a potprogrami su napisani pomoću programske podrške na privjesku za učenje (engl. teach pendant)

Abstract (english)

This bachelor thesis describes and demonstrates the potential applications of the FANUC CR-15iA industrial robot, which is of a collaborative nature, and its built-in FS-15iA force sensor. Collaborative robots work in environments with humans, and it is important that they can detect collisions with their surroundings to ensure maximum safety for the environment. The robot uses a force sensor mounted at the top of it's end-effector to detect collisions; however, in addition to detecting collisions, the force sensor enables the robot to perform various tasks essential in industry. Some main applications of robots with built-in force sensors include polishing, grinding and assembly. Each of these tasks requires monitoring and maintaining a specific force value. In the practical part of the thesis, code was programmed to guide the robot, search for reference points, and create a new user coordinate system where some functions of the built-in force sensor can be demonstrated. The process was programmed using code written in the KAREL programming language, while subprograms were written using software support on the teach pendant.

• Keywords: industrijski robot; kolaborativni robot; CR-15iA; senzor sile; KAREL; privjesak za učenje
• Keywords (english): industrial robot; collaborative robot; CR-15iA; force sensor; KAREL; teach pendant
• Language: croatian
• URN:NBN: urn:nbn:hr:235:451192
• Study programme: Title: Mechatronics and Robotics; Study programme type: university; Study level: undergraduate; Academic / professional title: sveučilišni/a prvostupnik/prvostupnica (baccalaureus/baccalaurea) inženjer/inženjerka mehatronike i robotike (sveučilišni/a prvostupnik/prvostupnica (baccalaureus/baccalaurea) inženjer/inženjerka mehatronike i robotike)
• Type of resource: Text
• File origin: Born digital
• Access conditions: Open access
• Created on: 2024-09-23 18:28:56