| Abstract | Cilj ovog završnog rada je detaljno proučiti mogućnosti i ograničenja programskog paketa
RoboDK te demonstrirati njegovo upravljanje industrijskim robotom. Također, potrebno je
ostvariti upravljanje, odnosno gibanje industrijskim robotom preko simulacije kreirane u
RoboDK. U početku je dan pregled i uvid u dijelove koji se koriste za rad u Laboratoriju za
autonomne sustave, kao i način na koji su ti dijelovi kreirani. Nakon toga dan je pregled kako se
program RoboDK spaja s računalom. Simulacija u RoboDK vidljiva je u idućem naslovu, zatim
prikaz virtualnog radnog prostora, do ostvarivanja gibanja i korištenja naredbi za gibanje.
Također, prije same implementacije, potrebno je napraviti kalibraciju alata kao i kalibraciju
koordinatnih sustava dijelova, na kojima se nalaze krivulje koje robot prati, odnosno, na kojima
ostvaruje gibanja koja su prethodno definirana u samoj simulaciji. Naposljetku, dan je uvid u
izvedbu u laboratoriju na stvarnom industrijskom robotu, u ovom završnom radu koristi se robot
marke Universal robot, UR5e. |
| Abstract (english) | The goal of this final thesis is to study in detail all the capabilities and limitations of the RoboDK
software package and to control an industrial robot with it. Also, it is necessary to achieve
control, that is, motion of an industrial robot through a simulation created in RoboDK.. At the
beginning, an overview and insight into the parts used for work in the Laboratory for
Autonomous Systems, as well as the way in which these parts are created, was also given. After
that, there is also an overview of how the RoboDK program connects to the computer. The
simulation in RoboDK is visible in the next title, from the creation of the entire simulation, the
display of the virtual workspace, to the realization of motion and the use of commands. Also,
before the actual execution, it is necessary to calibrate the tools as well as the calibration of the
coordinate systems of the parts, on which there are curves that the robot follows, on which it
makes the movements previously defined in the simulation itself. Finally, an insight into the
performance in the laboratory on a real industrial robot is given, which is Universal robot, UR5e |
