Analiza orodij za vodenje industrijskih robotov Yaskawa

Perenič, Jan (avtor), Munih, Marko (mentor), Kmecl, Peter (komentor)

V magistrski nalogi je bila izvedena primerjalna analiza vodenja industrijskega robota Yaskawa HC20 DTP z uporabo dveh pristopov: preverjenega sistema MotoPlus in novega sistema MotoROS2, ki temelji a odprtokodnem okolju ROS2. Cilj naloge je bil primerjati natančnost izvajanja robotskih gibov in zahtevnost implementacije obeh sistemov. Primerjava je bila izvedena na podlagi premikov po posameznih oseh (X, Y, Z) in po ravninah (XY, YZ, XZ), pri dveh različnih hitrostih (50 mm/s in 100 mm/s) ter pri dveh tipih gibov (LIN in PTP). Vsaka trajektorija je bila razdeljena na tri ključne točke: začetno točko za oceno ponovljivosti začetne pozicije, ciljni točki v pozitivni smeri za analizo natančnosti v gibanju navzgor ter ciljni točki v negativni smeri za oceno natančnosti v spodnjih ekstremih. Meritve so bile izvedene s sistemom Leica AT960 in brezžično sondo T-Mac, rezultati pa so bili primerjani s simulacijami in uporabljeni za izračun napak natančnosti. Analiza je pokazala, da med sistemoma vodenja MotoPlus in MotoROS2 pri LIN in PTP gibih ni večjih razlik v natančnosti. Linearni gibi so se izkazali za bolj natančne. Ugotovljeno je bilo, da je uporaba sistema MotoROS2 smiselna predvsem za napredne uporabnike, ki že delujejo v okolju ROS2 in razpolagajo z ustrezno usposobljenim kadrom.

• Jezik: Slovenski jezik
• Ključne besede: Industrijski robot, ROS2, MotoROS2, MotoPlus, natančnost gibanja.
• Vrsta gradiva: Magistrsko delo/naloga
• Organizacija: FE - Fakulteta za elektrotehniko
• Leto izida: 2025
• PID: 20.500.12556/RUL-171647
• Datum objave v RUL: 29.08.2025

Sekundarni jezik

• Jezik: Angleški jezik
• Naslov: Analysis of Yaskawa industrial robot control tools

Izvleček

In this master’s thesis, a comparative analysis was conducted on the control of the industrial robot Yaskawa HC20 DTP using two approaches: the established MotoPlus system and the new MotoROS2 system, which is based on the opensource ROS2 environment. The aim of the thesis was to compare the motion execution accuracy and implementation complexity of both systems. The comparison was carried out based on movements along individual axes (X, Y, Z) and planes (XY, YZ, XZ), at two different speeds (50 mm/s and 100 mm/s), and using two types of motion (LIN and PTP). Each trajectory was divided into three key points: the starting point to assess initial position repeatability, the maximum point to analyze accuracy during upward movement, and the minimum point to evaluate accuracy at lower extremes. Measurements were performed using the Leica AT960 system and the wireless T-Mac probe. The results were compared with simulations and used to calculate motion accuracy errors. The analysis showed that there were no significant differences in accuracy between the MotoPlus and MotoROS2 control systems for LIN and PTP motions. Linear motions proved to be more accurate. It was found that the use of the MotoROS2 system is particularly suitable for advanced users already operating within the ROS2 environment and who have appropriately trained personnel.

• Ključne besede: Industrial robot, ROS2, MotoROS2, MotoPlus, motion accuracy.