Razvoj programskega paketa za obdelavo površin s sodelujočim robotom

magistrsko delo magistrskega študijskega programa II. stopnje Strojništvo

Tine Prinčič (Author), Rok Vrabič (Mentor)

Abstract

Uporaba sodelujočih robotov prinaša novo paradigmo v sodelovanju med človekom in strojem. Industrijski roboti tako niso več omejeni zgolj na velike proizvodne linije, temveč postopoma najdejo svoje mesto tudi v malih in srednje velikih podjetjih. Vstop industrijskih robotov v to okolje zahteva razvoj novih uporabniških vmesnikov in inovativnih načinov programiranja, ki končnim uporabnikom olajšajo upravljanje ter programiranje. S tem se bo delo z industrijskimi roboti približalo širšemu krogu uporabnikov. V magistrskem delu je prikazan postopek izdelave procedur za obdelavo površin s sodelujočim robotom ABB CRB15000 ter spletni vmesnik za enostavno pretvorbo varilskih programov. Celovito je predstavljen ekosistem za uporabniško programiranje industrijskih robotov ABB. Opravljeno je vrednotenje sistema za uravnavanje pritisne sile, delovanja procedur in omejitev predstavljenega sistema.

Keywords

magistrske naloge;sodelujoči roboti;uporabniško programiranje;obdelava površin;prilagajanje sile;SLERP;

Data

Language:	Slovenian
Year of publishing:	2025
Typology:	2.09 - Master's Thesis
Organization:	UL FS - Faculty of Mechanical Engineering
Publisher:	[T. Prinčič]
UDC:	621.9:007.52:004.42(043.2)
COBISS:	246904579
Views:	68
Downloads:	13
Average score:	0 (0 votes)
Metadata:

Other data

Secondary language:	English
Secondary title:	Development of a software package for surface treatment with a collaborative robot
Secondary abstract:	The use of collaborative robots introduces a new paradigm in human-machine interaction. Industrial robots are no longer limited to large production lines but will gradually find their place in small and medium-sized enterprises. The integration of industrial robots into this environment requires the development of new user interfaces and innovative programming methods that will simplify operation and programming for end users. This will bring working with industrial robots closer to a broader range of users. This master's thesis presents the procedure for developing surface processing routines using the collaborative robot ABB CRB15000 and a web interface for easy conversion of welding programs. The thesis provides a comprehensive overview of the ecosystem for user-friendly programming of ABB industrial robots. An evaluation of the force control system, the operation of the procedures, and the limitations of the presented system has also been conducted.
Secondary keywords:	master thesis;collaborative robots;end-user programming;surface finnishing;force control;SLERP;
Type (COBISS):	Master's thesis/paper
Study programme:	0
Thesis comment:	Univ. Ljubljana, Fak. za strojništvo
Pages:	XX, 80 str.
ID:	27211629