magistrsko delo
Abstract
V industriji zadnja leta vse bolj težijo k čim bolj optimiziranim procesom in s
tem višji produktivnosti. Sodelujoči roboti so eni izmed tehnoloških napredkov v
zadnjem času, ki veliko pripomore k industriji 4.0, saj lahko v različnih procesih
pomagajo človeku, brez da bi ta bil ogrožen. V magistrski nalogi smo želeli
preizkusiti sodelovanje človeka in robota pri zajemu vzorca bakterijskih kolonij.
Naredili smo celoten sistem, ki je bil primeren za tako aplikacijo, vključno z
vsemi programskimi rešitvami, ki so potrebne za tako natančno vodenje robota.
Robotski sistem in vsa ostala strojna oprema je komunicirala med sabo, da je
delo za operaterja potekalo nemoteno. Samo virtualno okolje je bilo prilagojeno
laboratorijskemu okolju, kjer se v večini primerov tudi opravlja zajem vzorcev.
Problematika projekta je bila v prvi vrsti natančnost robota in kalibracija
orodji na vrhu robota, ki smo jih uporabljali. Na rezultatih pa se opazi tudi
probleme pri različnih načinih vizualizacije, kje operater ni še preveč suveren
oziroma premalo izučen.
Glede na rezultate lahko sklepamo, da se ponovljivost zajema s povečavo in
3D prikazom nekajkrat izboljša. Ob tem se hitrost zajema in gladkost trajektorije
zmanjšata, ampak z dodatnim treningom in nadaljnjim razvojem aplikacije ter
sistema bi lahko izboljšali rezultate.
Keywords
industrija 4.0;navidezna resničnost;sodelujoči roboti;pametni sistem;zajem kolonij bakterij;magisteriji;
Data
Language: |
Slovenian |
Year of publishing: |
2022 |
Typology: |
2.09 - Master's Thesis |
Organization: |
UL FE - Faculty of Electrical Engineering |
Publisher: |
[M. Bajc] |
UDC: |
007.52(043.3) |
COBISS: |
104484611
|
Views: |
166 |
Downloads: |
29 |
Average score: |
0 (0 votes) |
Metadata: |
|
Other data
Secondary language: |
English |
Secondary title: |
Augmented reality for teaching high-precision robot movements |
Secondary abstract: |
The industry has increasingly strived to optimise processes and increase productivity in recent years. Collaborative robots are one of the recent technological
advances which significantly contribute to Industry 4.0, as they can be used in
various processes without putting humans at risk. In this master thesis, we evaluated human-robot collaboration to pick a bacterial colony sample.
We developed a complete robot system suitable for such an application, including the software solutions needed to control the robot with the required precision. The robot system communicated with other hardware so that the operator
could perform work smoothly. The virtual environment itself was an adapted
laboratory environment, where most of the bacterial sample collection is carried
out.
The main issues encountered during the research were primarily robot accuracy and calibration of the tools at the robot end-effector. However, the results
also show differences with the different visualisation modes, where the operator
is not yet very proficient or not skilled enough.
From the results, we can conclude that the repeatability of the bacterial colony
picking is increased with magnification and 3D display. At the same time, the
picking speed and the smoothness of the trajectory are reduced. With additional
training and further development of the application, the results can be imp |
Secondary keywords: |
industry 4.0;virtual reality;collaborative robot;smart system;bacterial colony sampling; |
Type (COBISS): |
Master's thesis/paper |
Study programme: |
1000316 |
Embargo end date (OpenAIRE): |
1970-01-01 |
Thesis comment: |
Univ. v Ljubljani, Fak. za elektrotehniko |
Pages: |
XVI, 52 str. |
ID: |
14976283 |