1. Toward optimal robot machining considering the workpiece surface geometry in a task-oriented approachAleš Hace, 2024, izvirni znanstveni članek Opis: Robot workpiece machining is interesting in industry as it offers some advantages, such as higher flexibility in comparison with the conventional approach based on CNC technology. However, in recent years, we have been facing a strong progressive shift to custom-based manufacturing and low-volume/high-mix production, which require a novel approach to automation via the employment of collaborative robotics. However, collaborative robots feature only limited motion capability to provide safety in cooperation with human workers. Thus, it is highly necessary to perform more detailed robot task planning to ensure its feasibility and optimal performance. In this paper, we deal with the problem of studying kinematic robot performance in the case of such manufacturing tasks, where the robot tool is constrained to follow the machining path embedded on the workpiece surface at a prescribed orientation. The presented approach is based on the well-known concept of manipulability, although the latter suffers from physical inconsistency due to mixing different units of linear and angular velocity in a general 6 DOF task case. Therefore, we introduce the workpiece surface constraint in the robot kinematic analysis, which enables an evaluation of its available velocity capability in a reduced dimension space. Such constrained robot kinematics transform the robot’s task space to a two-dimensional surface tangent plane, and the manipulability analysis may be limited to the space of linear velocity only. Thus, the problem of physical inconsistency is avoided effectively. We show the theoretical derivation of the proposed method, which was verified by numerical experiments.periments.
Ključne besede: robotics, automation, robot machining, workpiece surface polishing, collaborative robot, manipulability, complex surface geometry, motion planning
Objavljeno v DKUM: 25.11.2024; Ogledov: 0; Prenosov: 0 |
2. Region-based approach for machining time improvement in robot surface finishingTomaž Pušnik, Aleš Hace, 2024, izvirni znanstveni članek Opis: Traditionally, in robotic surface finishing, the entire workpiece is processed at a uniform speed, predetermined by the operator, which does not account for variations in the machinability across different regions of the workpiece. This conventional approach often leads to inefficiencies, especially given the diverse geometrical characteristics of workpieces that could potentially allow for different machining speeds. Our study introduces a region-based approach, which improves surface finishing machining time by allowing variable speeds and directions tailored to each region’s specific characteristics. This method leverages a task-oriented strategy integrating robot kinematics and workpiece surface geometry, subdivided by the clustering algorithm. Subsequently, methods for optimization algorithms were developed to calculate each region’s optimal machining speeds and directions. The efficacy of this approach was validated through numerical results on two distinct workpieces, demonstrating significant improvements in machining times. The region-based approach yielded up to a 37% reduction in machining time compared to traditional single-direction machining. Further enhancements were achieved by optimizing the workpiece positioning, which, in our case, added up to an additional 16% improvement from the initial position. Validation processes were conducted to ensure the collaborative robot’s joint velocities remained within safe operational limits while executing the region-based surface finishing strategy.
Ključne besede: robot surface finishing, collaborative robot, region-based machining, workpiece optimization, clustering, task-oriented machining, machining time optimization
Objavljeno v DKUM: 25.11.2024; Ogledov: 0; Prenosov: 6
 Celotno besedilo (20,89 MB) |
3. Ergonomic evaluation of human–robot collaborative order picking : a combined laboratory and simulation studyMinqi Zhang, Jakob Marolt, Primož Bencak, Eric Grosse, Tone Lerher, 2024, objavljeni znanstveni prispevek na konferenci Opis: Thanks to rapid technological developments in robotics, various automation technologies are being applied in warehouses today. Order picking, as a key process in warehouse operations, has drawn attention in academia and practice for decades. In addition to many studies dedicated to manual and fully automated order picking, efforts have also been made to study semi-automated warehouses in which humans and robots collaborate. However, these studies mostly focused on system efficiency and ignored ergonomic aspects. Order picking was confirmed as a labor-intensive process in an environment in which workers are at a high risk of developing health problems. Therefore, this study addresses the investigation of physical human working conditions in both manual and robot-assisted order picking systems via real-life laboratory experiments and simulation modeling. We used a motion capture system to assess human working postures when working with and without robot assistance. In addition, we estimated the daily workload by applying the energy expenditure concept. Using simulation experiments, we were able to extend the results to various practical scenarios with different design variables, for example warehouse layouts, order sizes, and human-robot team configuration. Our preliminary results reveal that human-robot collaboration can reduce human workload. Posture evaluation also shows a slight improvement.
Ključne besede: order picking, autonomous mobile robot, human factors, ergonomics, assisted order picking, hybrid order picking, simulation, performance evaluation
Objavljeno v DKUM: 21.11.2024; Ogledov: 0; Prenosov: 2
Celotno besedilo (713,52 KB)
Gradivo ima več datotek! Več... |
4. Aging in industry 5.0 : enhancing human–robot synergy in manufacturing and logisticsThilini Ranasinghe, Eric Grosse, Tone Lerher, 2024, objavljeni znanstveni prispevek na konferenci Opis: Thanks to rapid technological developments in robotics, various automation technologies are being applied in warehouses today. Order picking, as a key process in warehouse operations, has drawn attentioThis paper presents a systematic literature review exploring the impact of human–robot (HR) systems on older workers in manufacturing and logistics industries, drawing insights into how these systems can be optimally designed to address human factors in four key areas—perceptual, physical, cognitive, and psychosocial—aligning with the goals of Industry 5.0. By analyzing 19 articles selected from the Scopus and Web of Science databases, we identified both the benefits and challenges that HR systems pose to the aging workforce. We conclude that to achieve Industry 5.0 goals, HR systems must be designed to balance automation with human skills, promoting adaptability and inclusivity tailored to the diverse responses of older workers.n in academia and practice for decades. In addition to many studies dedicated to manual and fully automated order picking, efforts have also been made to study semi-automated warehouses in which humans and robots collaborate. However, these studies mostly focused on system efficiency and ignored ergonomic aspects. Order picking was confirmed as a labor-intensive process in an environment in which workers are at a high risk of developing health problems. Therefore, this study addresses the investigation of physical human working conditions in both manual and robot-assisted order picking systems via real-life laboratory experiments and simulation modeling. We used a motion capture system to assess human working postures when working with and without robot assistance. In addition, we estimated the daily workload by applying the energy expenditure concept. Using simulation experiments, we were able to extend the results to various practical scenarios with different design variables, for example warehouse layouts, order sizes, and human-robot team configuration. Our preliminary results reveal that human-robot collaboration can reduce human workload. Posture evaluation also shows a slight improvement.
Ključne besede: aging, human–robot systems, manufacturing, logistics, industry 5.0, human-centricity
Objavljeno v DKUM: 21.11.2024; Ogledov: 0; Prenosov: 2
Celotno besedilo (651,28 KB)
Gradivo ima več datotek! Več... |
5. Uporaba linijskega laserja za detekcijo komadov s pomočjo robota abb irb 1200Nejc Trnovšek, 2024, diplomsko delo Opis: Iskanje predmetov je v industrijskih aplikacijah pomemben proces, ki olajšuje delo, saj s pomočjo robota in laserskega distančnega senzorja izdelke najprej najdemo, nato prestavimo. Tekom diplomske naloge smo izvedli fizično in digitalno povezavo med laserskim distančnim senzorjem in ABB IRB1200 robotom. Nato smo napisali 3 različne programe za uporabo laserja za detekcijo komadov na točno določenem območju, iskanje njihove višine in nato njihovo prelaganje. Vsak naslednji program je bil nadgradnja predhodnega in vsi so uspešno delovali.
Zadnji od njih je sposoben poiskati, prijeti in v stolpec odložiti cilindrične predmete različnih višin, kjerkoli v naprej določenem delovnem območju.
Ključne besede: laser, robot, RobotStudio, predmet, program, detekcija komadov
Objavljeno v DKUM: 22.10.2024; Ogledov: 0; Prenosov: 6
Celotno besedilo (1,65 MB) |
6. Pobiranje kosov z robotom, opremljenim s kamero za strojni vidSimon Ratajc, 2024, diplomsko delo Opis: Diplomsko delo opisuje izdelavo robotskega programa, katerega funkcija je pobiranje in nameščanje kosov z visoko natančnostjo, kar pa omogoča kamera za strojni vid. Robotov krmilnik komunicira s kamero za strojni vid preko programirljivega logičnega krmilnika, ki mu poleg informacij o kameri pošilja tudi ukaze in informacije, ki jih potrebuje za nemoteno delovanje. Delo podrobno opisuje varnost robotske celice in vse komponente.
Ključne besede: Robot, kamera za strojni vid, komunikacija, varnost robotske celice
Objavljeno v DKUM: 22.10.2024; Ogledov: 0; Prenosov: 5
Celotno besedilo (3,55 MB) |
7. Asinhrono sledenje KUKA robota točkam na obračalni miziTine Tomšič, 2024, diplomsko delo Opis: Bistveno prvino vseh proizvodnih sistemov predstavljajo roboti, ki so iz leta v leto bolj nepogrešljivi. Od tod izvira ideja o gradnji pametne in avtonomne robotske celice, ki temelji na vzpostavitvi komunikacije med KUKA robotom in obračalno mizo. V sklopu diplomske naloge smo zasnovali delovno celico, znotraj katere KUKA robot sledi premikom obračalne mize. Medtem ko se miza rotira, robotska roka z manjšo časovno zakasnitvijo sledi vnaprej določeni točki. Z uporabo programabilnega logičnega krmilnika Siemens S7-1500 in protokola PROFINET je izvedeno izračunavanje prostorskih koordinat ter komunikacija med krmilnikom in robotom za uspešno asinhronsko sledenje vrha robota in točke na obračalni mizi.
Ključne besede: Obračalna miza, KUKA robot, Siemens PLK, PROFINET, TIA Portal, asinhrono sledenje
Objavljeno v DKUM: 14.10.2024; Ogledov: 0; Prenosov: 24
Celotno besedilo (2,86 MB) |
8. Optimizacija algoritma za avtonomno navigacijo mobilnega robota : magistrsko deloGregor Popič, 2024, magistrsko delo Opis: Magistrsko delo opisuje delovanje algoritma avtonomne navigacije robota FarmBeast, ki je namenjen avtomatizaciji različnih kmetijskih opravil, sekundarno pa tudi za tekmovanje Field Robot Event v sklopu panoge osnovne in napredne navigacije. Za delovanje so uporabljeni napredni senzorji, kot sta LiDAR in IMU, pri čemer se podatki filtrirajo in transformirajo z namenom natančnejše zaznave podatkov o okolici robota. Ob tem je za potrebe obračanja implementirana uporaba kvaternionov, kar pripomore k večji natančnosti in robustnosti delovanja. Testiranja, na podlagi primerjave s predhodno verzijo algoritma, so pokazala znatno izboljšanje hitrosti in večjo natančnost vožnje ter izrazito zmanjšanje poškodovanih rastlin. Meritve potrjujejo, da je novo razviti algoritem bolj učinkovit in bolj zanesljiv v primerjavi s predhodno verzijo.
Ključne besede: FarmBeast robot, avtonomna navigacija, kmetijska avtomatizacija, optimizacija algoritma
Objavljeno v DKUM: 03.10.2024; Ogledov: 0; Prenosov: 24
Celotno besedilo (4,26 MB) |
9. Avtomatizacija varjenja izdelka na varilnem robotu : diplomsko deloDavid Brečko, 2024, diplomsko delo Opis: V modernem času se v avtomobilski industriji trend robotizacije veča vsak dan. Zagotavlja bolj konstantno in nemoteno izdelavo, za nadzor je potrebnih le nekaj delavcev. V podjetju BNM funkcijo robotskega varjenja trenutno opravlja varilni robot Cloos, za katerega podjetje želi avtomatizirati čim več izdelkov. Ostalo je le še nekaj izdelkov, ki se varijo ročno.
V diplomski nalogi je predstavljena avtomatizacija robotskega varjenje za izdelka A 425 610 14 53 in A 425 610 15 53. Opisana je primerjava v času ročnega varjenja in robotskega varjenje, kvaliteti in izgledu varov. Predstavljena je nova konstrukcija za robotsko varjenje in postopek konstruiranja in izdelave nove varilne priprave.
Ključne besede: varjenje, varilna priprava, prilagoditev, modeliranje, konstruiranje, robot, varilni robot, robotizacija, avtomatizacija, normiranje, BNM, avtomobilska industrija
Objavljeno v DKUM: 30.09.2024; Ogledov: 0; Prenosov: 19
Celotno besedilo (10,90 MB) |
10. Konstrukcijska, električna in varnostna konfiguracija robotskega paletizatorja : magistrsko deloMiha Vunderl, 2024, magistrsko delo Opis: Magistrska naloga se osredotoča na razvoj in implementacijo naprednega robotskega paletizatorja, ki združuje ključne aspekte konstrukcije, električne povezave in varnosti. Naloga vključuje podrobno konstruiranje in obremenitvene teste za podstavek robotske roke. Konstruiranje se osredotoča na: čimbolj kompaktno izvedbo, enostaven transport celotnega podstavka, zagotavljanje prostora za krmilnik robotske roke in elektro omarico ter pripravljenost na nadgradnje (dodatna sedma os). V nalogi je izdelan električen načrt celotnega sistema.
Zadnji sklop naloge zajema integracijo varnostnih tehnologij, kot so varnostni laserski skenerji. Poseben poudarek je na skladnosti z varnostnim standardom ISO 15066 in na zagotavljanju varne in učinkovite uporabe v industrijskem okolju ter določanje razdalje varnostnih območij.
Ključne besede: robotski paletizator, kolaborativni robot, varnostni laserski skener, podstavek, tehnična specifikacija ISO 15066, varnostna območja
Objavljeno v DKUM: 03.09.2024; Ogledov: 65; Prenosov: 0
Celotno besedilo (6,45 MB) |
