20.500.12556/DKUM-85344 Pobiranje in odlaganje aluminijastih ulitkov balansirnega diska s kolaborativnim robotom in 2D kamero diplomsko delo Pick and place application for aluminium castings of the balancing disc with a collaborative robot and a 2D camera V trenutnem svetu prihaja v veliko podjetjih do povišanih stroškov delovne sile oz. v najslabšem primeru do njihovega pomanjkanja, zato je bil cilj diplomskega dela izvesti pobiranje in odlaganje aluminijastih ulitkov balansirnega diska s kolaborativnim robotom UR5e in 2D kamero. V diplomski nalogi smo izbrali delovno mesto iz podjetja Talum d.d., ki je najbolj primerno za kolaborativnega robota, naredili simulacijo robotiziranega procesa, ter načrtovali in izvedli industrijski proces v laboratoriju. Pri zaznavanju z 2D kamero je bil celoten proces voden s programskim okoljem MATLAB, s katerim smo prožili kamero, pridobili rezultate zajema, izračunali ustrezne robotske gibe ter jih nato preko TCP/IP vtičnice pošiljali na robotski krmilnik. Proces je bil pred izvedbo na pravem robotu v celoti simuliran v simulacijskem okolju RoboDK. In the current world, many companies are experiencing increased labor costs or in the worst their lacking, so the aim of the thesis was to carry out the picking and placing of aluminum castings of a balancing disc with a collaborative robot UR5e and a 2D camera. In the thesis, we chose a workplace in the company Talum d. d., which is most suitable for a collaborative robot, made a simulation of a robotic process and lastly planned and implemented an industrial process in the laboratory. When detecting with a 2D camera, the entire process was managed with MATLAB, with which we activated the camera, obtained the capture results and calculated the corresponding robot movements, and then sent them to the robot controller via a TCP/IP socket. The process was fully simulated in the RoboDK environment before being implemented on a real robot. kolaborativni robot aluminijasti ulitki 2D kamera MATLAB RoboDK avtomatizacija collaborative robot aluminum casts 2D Camera MATLAB RoboDK automation true true false [R. Furek] Slovenski jezik Angleški jezik Diplomsko delo/naloga 2023-08-28 07:23:29 2024-03-04 10:07:01 2024-03-16 03:14:10 0000-00-00 00:00:00 2023 0 Maribor 0 Maribor 1 spletni vir (1 datoteka PDF (X, 49 f.)) 0000-00-00 NiDoloceno NiDoloceno NiDoloceno 0000-00-00 0000-00-00 0000-00-00 007.52(043.2) 189130755 Furek_Rene.pdf Furek_Rene.pdf 1 9B8FD6B816BEBABDD25C26129C172E3E 40eeacc87c5e3aea6a1ac83b93496db113ded33d36956c8e3354eab79ded7f4e 7456cb7d-da06-11ee-acff-00155d000105 https://dk.um.si/Dokument.php?lang=slv&id=176528 Fakulteta za strojništvo 0 0 0