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Abstract: Diplomska naloga se osredotoča na avtomatizacijo posluževanja CNC stroja z uporabo kolaborativnega robota DOBOT. Naloga zajema razvoj in implementacijo PLK programa za Siemensov programabilni krmilnik S7-1214C, pri čemer je za programiranje uporabljen TIA Portal. Operater vnese željene parametre preko uporabniškega panela, ki je nameščen na robotski celici, komunikacija med panelom in krmilnikom pa poteka preko PROFINET protokola. Prav tako je vzpostavljena komunikacija med robotom in krmilnikom s pomočjo MODBUS protokola. V nalogi je opisana vzpostavitev MODBUS komunikacije in razvoj programa, ki ustreza specifičnim zahtevam robotske celice. Opisan sistem omogoča operaterju, da hkrati upravlja več CNC strojev, kar povečuje operativno učinkovitost in zmanjšuje potrebo po človeškem nadzoru.
Keywords: Avtomatizacija, PLK, industrija, robotska celica, CNC stroja
Published in DKUM: 06.05.2025; Views: 0; Downloads: 49
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Abstract: Performing the machining of complex surfaces can be a challenging task for a robot, especially in terms of collaborative robotics, where the available motion capabilities are greatly reduced in comparison with conventional industrial robot arms. It is necessary to evaluate these capabilities prior to task execution, for which we need efficient algorithms, especially in the case of flexible robot applications. To provide accurate and physically consistent information about the maximum kinematic capabilities while considering the requirements of the task, an approach called the Decomposed Twist Feasibility (DTF) method is proposed in this study. The evaluation of the maximum feasible end-effector velocity is based on the idea of decomposition into the linear and angular motion capabilities, considering a typical robot machining task with synchronous linear and angular motion. The proposed DTF method is presented by the well-known manipulability polytope concept. Unlike the existing methods that estimate the kinematic performance capabilities in arbitrarily weighted twist space, or separately in the translation and the rotation subspace, our approach offers an accurate and simple solution for the determination of the total kinematic performance capabilities, which is often highly required, especially in the case of robot machining tasks. The numerical results obtained in this study show the effectiveness of the proposed approach. Moreover, the proposed DTF method could represent suitable kinematic performance criteria for the optimal placement of predefined tasks within the robot workspace
Keywords: robot surface machining, task feasibility, task-dependent kinematic capability, kinematic performance evaluation, manipulability index, manipulability polytope, motion decomposition, Decomposed Twist Feasibility method, DTF method
Published in DKUM: 01.04.2025; Views: 0; Downloads: 2
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Abstract: V magistrski nalogi smo raziskali uporabo redundantnih robotskih manipulatorjev za izboljšanje prilagodljivosti in zmogljivosti pri izvajanju nalog v okoljih z ovirami, s poudarkom na robota Franka Emika Panda. Osredotočili smo se na analizo in primerjavo različnih načrtovalnikov poti ter reševalnikov inverzne kinematike, da bi ocenili njihovo učinkovitost pri obvladovanju sklepnih omejitev in izogibanju oviram. Z razvojem aplikacije pobiranja in odlaganja (angl. Pick and place) v okolju ROS in z orodjem Moveit smo demonstrirali, kako redundantnost omogoča izboljšano manevriranje in kompleksne gibe, ki so potrebni za napredne robotske aplikacije. Rezultati kažejo, da je pristop s poudarkom na redundantnosti bistven za doseganje boljših operativnih sposobnosti robota, še posebej v zahtevnih industrijskih okoljih.
Keywords: ROS, Moveit, Franka Emika Panda, redundantnost, robot, izogibanje oviram, manipulacija, načrtovanje poti
Published in DKUM: 20.01.2025; Views: 0; Downloads: 29
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Abstract: V sklopu magistrske naloge smo razvili in izdelali vizualizacijo za precizno pozicioniranje pnevmatskega valja. Servo-pnevmatski pozicionirni sistem, katerega ključna sestavna dela sta servo-pnevmatski ventil Enfield S2 in senzorska letev SICK, omogoča natančno pozicioniranje bata na določeni točki vzdolž cilindra. Sistem smo krmilili preko programskega vmesnika S2 Configuration Interface, preko potenciometra v ročnem načinu in preko industrijskega krmilnika Siemens S7-1200 v avtomatskem načinu. V programskem okolju TIA Portal smo izdelali krmilne programe za različne načine delovanja. Glede na krmilne programe oz. načine delovanja smo izdelali vizualizacijo z uporabo Siemens HMI. Nastavitve željene in dejanske pozicije ter točnost bata smo primerjali z ustreznimi funkcijami na HMI zaslonu. Za posamezen krmilni program smo izdelali ustrezno tehnološko dokumentacijo.
Keywords: Vizualizacija, Siemens, HMI, pozicioniranje
Published in DKUM: 23.12.2024; Views: 0; Downloads: 51
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Abstract: 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.
Keywords: robot surface finishing, collaborative robot, region-based machining, workpiece optimization, clustering, task-oriented machining, machining time optimization
Published in DKUM: 25.11.2024; Views: 0; Downloads: 21
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