zaključna naloga Razvojno raziskovalnega programa I. stopnje Strojništvo
Abstract
Industrijski roboti postajajo vsako leto bolj priljubljeni, ekonomsko dostopni in potrebni za opravljanje različnih, predvsem nevarnih, natančnih in hitrih operacij v proizvodnji. Vsakega robota, ki ga vključimo na novo delovno mesto, je treba najprej sprogramirati oz. ga naučiti potrebnih pomikov. Ta proces je zamuden, v nekaterih primerih pa tudi nevaren, saj lahko vodi v mehanske poškodbe drage robotske opreme in tudi ljudi. Z razvojem računalništva se je začel razvoj simulacije, ta pa postaja čedalje pomembnejše vizualizacijsko, načrtovalno in strateško orodje na različnih področjih raziskav in razvoja. Še posebno izrazito vlogo ima prav v robotiki. V zaključnem delu je predstavljen postopek izdelave simulacijskega modela za robotsko roko proizvajalca Fanuc. V prvem delu so predstavljeni različni industrijski roboti, ROS, v sklopu katerega delujejo uporabljeni simulator Gazebo, robotska simulacija, dinamika in paket MoveIt! V drugem delu pa je opisan postopek izdelave simulacijskega modela od nalaganja ROS do končnega rezultata.
Keywords
diplomske naloge;industrijski roboti;robotski operacijski sistem (ROS);simulacija;
Data
Language: |
Slovenian |
Year of publishing: |
2020 |
Typology: |
2.11 - Undergraduate Thesis |
Organization: |
UL FS - Faculty of Mechanical Engineering |
Publisher: |
[N. Karlo] |
UDC: |
621.865.8:004.451:004.94(043.2) |
COBISS: |
30663939
|
Views: |
742 |
Downloads: |
290 |
Average score: |
0 (0 votes) |
Metadata: |
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Other data
Secondary language: |
English |
Secondary title: |
Simulation model of robotic arm Fanuc in Gazebo |
Secondary abstract: |
Industrial robots are becoming more and more popular, economically accessible and necessary to perform various, especially dangerous, precise and fast operations within production. Each robot that we introduce to a new working place must first be programmed or taught the necessary moves. This process is not only time consuming, but in some cases also dangerous, as it can lead to mechanical injuries to both expensive robotic equipment and humans. With the development of computer science, simulation is becoming an increasingly important visualization, planning and strategic tool in various fields of research and development. It has a particularly prominent role in robotics. The thesis presents the process of making a simulation model for a robotic arm manufactured by Fanuc. The first part includes descriptions of various industrial robots, ROS on which Gazebo simulator operates, robot simulation, dynamics and the MoveIt! package. The second part describes the process of creating a simulation model from installing ROS to the final usable model. |
Secondary keywords: |
thesis;industrial robots;robotic operating system (ROS);Gazebo;MoveIt!;Fanuc;simulation; |
Type (COBISS): |
Final paper |
Study programme: |
0 |
Embargo end date (OpenAIRE): |
1970-01-01 |
Thesis comment: |
Univ. v Ljubljani, Fak. za strojništvo |
Pages: |
XIII, 38 f. |
ID: |
12033094 |