Robots have become human society important to humanity because they can replace human labour, most often in industrial sectors, especially where the environment is not safe to humans. In my diploma thesis i have focused on the hardware of the Kuka robot system, the communication between the components, including the difference between synchronous and asynchronous motion of the two participating robots, and the basic functions of the robot and the controller.
In the first part of diploma thesis i have presented the hardware of the Kuka robot controller, what the robot needs for functionality and communication and which components are found in the controller cabinet. I have described the module that ensures safety and prevents collisions between robots, the resolver to digital signal converter containing the electromechanical sensor that measures the precise angular position of the rotating element, the digital servo electronics module responsible for the digital closed loop that controls the movement of up to 8 axes.
The robot can be programmed with different movements such as point-to-point, linear and circular. All movements can also be synchronised with another robot in the cell. In synchronised motion, robots must complete their synchronised motion, before they can start moving again to the next point. In asynchronous motion, a condition is needed to move again. Asynchronous motion is independent of time.
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