Robotska delovna celica s 6-osnim paralelnim robotom FANUC M-1iA

diplomsko delo

Miha Tertinek (Avtor), Aleš Hace (Mentor), Karl Gotlih (Mentor)

Povzetek

Diplomsko delo opisuje pripravo in realizacijo delovne celice z majhnim in hitrim paralelnim robotom Fanuc M-1iA, na katerem teče zanimiva demonstracijska aplikacija metanja igralne kocke. V naši robotski aplikaciji, ki smo jo imenovali Hazarder, robot vrže igralno kocko pod nadzorom uporabnika, in v kolikor pade šestica, robot uporabnika nagradi s čokoladico. Izdelava naše robotske aplikacije je obsegala programiranje meta igralne kocke tako, da smo robota naučili trajektorij, po katerih se naj giblje. Uvedli smo tudi strojni vid za prepoznavanje in lociranje objektov (kocke) ter štetja (pik). Priklopili smo še preprosto uporabniško konzolo za nadzor meta. Pri programiranju gibov in obdelavi podatkov s kamere je bil uporabljen Fanuc-ov preprosti robotski programski jezik TP. Izdelali smo tudi virtualno delovno celico v okolju Roboguide, da smo lahko preverili gibanje robota, ugotovili omejitve orientacije prijemala in možnosti kolizij z objekti v delovnem prostoru robota.

Ključne besede

mehatronika;robotika;robotske celice;virtualna robotska celica;strojni vid;računalniški vid;paralelni robot;robotske aplikacije;programiranje robota;Roboguide;diplomske naloge;

Podatki

Jezik:	Slovenski jezik
Leto izida:	2013
Tipologija:	2.11 - Diplomsko delo
Organizacija:	UM FERI - Fakulteta za elektrotehniko, računalništvo in informatiko
Založnik:	[M. Tertinek]
UDK:	004.93:007.52(043.2)
COBISS:	17725462
Št. ogledov:	1869
Št. prenosov:	217
Ocena:	0 (0 glasov)
Metapodatki:

Ostali podatki

Sekundarni jezik:	Angleški jezik
Sekundarni naslov:	Robotic work cell with 6-axis parallel robot FANUC M-1iA
Sekundarni povzetek:	This thesis presents the preparation and realization of the work cell with a small and fast parallel robot Fanuc M-1iA with an interesting demonstrative dice-throwing application installed. In our robotic application, named Hazarder, the dice is thrown by the robot under user's surveillance. If the outcome of the throw are six pips, the user is rewarded by being offered a chocolate bar. The production of our robotic application included programming the dice throw, so that the robot was taught on which paths it has to move; and we also incorporated a machine vision for the purposes of object recognition, location (dice), and counting (pips). Moreover, we added a simple user console to control the throwing. The movements and camera data processing were done via Fanuc's simple robotic program language TP. We also built a virtual work cell in the Roboguide environment in order to understand the robot's movements; to find out what the holder's orientation wise limitations are; and to see if there are any collision possibilities with the objects in the robot's workspace.
Sekundarne ključne besede:	mechatronics;robotics;parallel robot;Fanuc M-1iA;machine vision;virtual robotic work cell;
URN:	URN:SI:UM:
Vrsta dela (COBISS):	Diplomsko delo/naloga
Komentar na gradivo:	Univ. v Mariboru, Fak. za strojništvo, Mehatronika
Strani:	XII, 51 f.
ID:	8726902