The diploma thesis presents the procedure of creating virtual robotic cell within Delfoi software. The process of making robotic cell included a robotic arm, a positioning table and a welding torch. Within the scope of this thesis, models of positioning table and welding piece were created in SolidWorks CAD software and imported to Delfoi. In Delfoi, we positioned them as they are positioned in reality and the simulation of welding was done. The software also enabled us to check the singularity, collisions, axis limits and reachability. After determination of the working coordinate system and tool center point, the welding was performed. The welding product was scanned using scanning device FARO Design ScanArm. We concluded that described procedure of creating virtual robot cell and robot program with Delfoi software is suitable for successful operation of a robotic cell. During program creation, software enabled us to detect and repair issues using simulation and program control. Created simulation served as visual presentation of welding process. Based on the results of the control of singularity, collisions, axis limits and reachability, it can be concluded that our program works without mistakes. In order to properly use programs on the real robot cells, it is very important to make precise transition of robot cell into virtual environment.
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