Simulacija sodelovanja človeka in robota na primeru aplikacije sestavljanja

KRIVEC, BLAŽ (author), Mihelj, Matjaž (mentor), Šlajpah, Sebastjan (co-mentor)

V današnjem času se v industriji in tudi na drugih področjih zaradi potreb po višji produktivnosti dela in optimizaciji procesov tudi robotika iz dneva v dan vse bolj uveljavlja. Tako imenovani »pametni sistemi« so pogosto sestavljeni tudi iz sodelujočih robotov, zanje pa je značilno, da lahko v proces dela vključujejo tudi človeško pomoč, s tem pa se zelo povečata fleksibilnost in hitrost dela. Z diplomskim delom smo v virtualnem okolju skušali prikazati sodelovanje človeka in robota, zato je bilo potrebno izbrati tudi primerno aplikacijo in sodelujočega robota. Odločili smo se za dvoročnega ABB-jevega robota IRB 14000 YuMi in aplikacijo sestavljanja manipulatorja z eno prostostno stopnjo. V delo smo vključili predstavitev robotske celice z YuMi robotom in pa tudi predstavitev programskega okolja RobotStudio, v katerem smo izdelali simulacijo. Ko so bile jasno določene sekvence sestavljanja, smo v nadaljevanju podrobno opisali še postopke za izdelavo sodelovalne aplikacije v virtualnem okolju, tako lahko po branju te diplomske naloge vsak bralec brez posebnega predznanja naredi podobno aplikacijo.

• Language: Slovenian
• Keywords: sodelujoči robot, sodelovalna aplikacija, simulacija, interakcija
• Work type: Bachelor thesis/paper
• Organization: FE - Faculty of Electrical Engineering
• Year: 2019
• PID: 20.500.12556/RUL-106205
• Publication date in RUL: 11.02.2019

Secondary language

• Language: English
• Title: Simulation of human-robot collaboration in assembly application

Abstract

In the present day, robotics is becoming more and more prevalent in industry and in other fields due to the growing need for higher productivity and process optimization. “Smart systems” often include collaborative robots which are characterized by their ability to include human help into the process of work, significantly improving the flexibility and speed of work. For proper demonstration of human-robot collaboration it is essential to choose both a suitable application and a collaborative robot. We decided on the ABB’s dual-arm collaborative robot IRB 14000 YuMi. Application was an assembly task of a linear manipulator with a single degree of freedom. In this work we present the robotic cell of the YuMi robot along with the software platform in which we created the simulation. After clearly defining the sequences of the assembly, we describe in detail the process of developing a collaborative application in a virtual environment. Thus, after reading this thesis, every reader can develop a similar application without any specific prior knowledge.

• Keywords: collaborative robot, collaborative application, simulation, interaction