At present, the area of Robotics, today no longer has any borders. There is no suprise if we are greeted by a robot vacuum cleaner, while visiting an old friend, or if surgery is done by a robotic arm in a nerby hospital.
The purpose of the thesis was to build two demonstration programs on the first collaborative bimanual robot YUMI, which was developed by ABB.
First chapter is dedicated to the history and development of automation machinery, followed by the development of the first robot is presented. Robotics and standards for manufacturing are also described.
Second chapter summarizes the hardware components of the robot YUMI. The robot arm and its specifications are described, in addition to grippers and all of the periphery.
The heart of the robot is a modern IRC5 controller, which is presented in the third chapter. This chapter also includes insight into software and explanes three different methods of inputting RAPID code. The machine vision system and its implementation in software are described in the last part of the chapter.
Fourth chapter describes the two demonstration programs that were the motivation for our work. The challange of the first program was to make a paper airplane with YUMI. The second program included localisation and manipulation of tubes. The tubes were located using mechanical vision, while the manipulation was performed by the robot. The tubes were piched up and caps were unscrewed from the tubes. Description advocates positive and negative features of the robot and places for improvement.
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