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.
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