20.500.12556/DKUM-85446 Vzpostavitev TCP/IP komunikacije in priprava robotskega programa za sinhrono gibanje dveh sodelovalnih UR10e robotov diplomsko delo Establishing TCP/IP communication and preparing a robot program for the synchronous movement of two collaborative UR10e robots Za zagotavljanje delovanja dveh sodelovalnih robotov v robotski celici je potreben nadzorni krmilnik, ki nadzoruje delovanje posameznega robota, ter njuno skupno delovanje. Za doseganje rešitve tega problema, je treba zagotoviti tudi izmenjavo sporočil med roboti ter nadzornim krmilnikom. Izmenjavo podatkov je mogoče doseči z vzpostavitvijo povezave za izmenjavo preko TCP/IP protokola. V predstavljeni uporabi, je izmenjava sporočil potekala med sodelovalnima robotoma UR10e, ki ju je nadziral kontrolni Matlab program. Kontrolni Matlab program generira takšne točke za premik posameznega sodelovalnega robota, da dosežeta prostim očem vidno sinhrono delovanje. S pomočjo vzpostavitve takšne izmenjave podatkov je mogoče ustvarjati namenske programe, kjer robota med premikanjem preoblikujeta obdelovanec. To ensure the operation of two collaborative robots in a robotic cell, a supervisory controller is required to oversee the operation of each individual robot, as well as their collective operation. To achieve a solution to this problem, it is also necessary to facilitate message exchange between the robots and the supervisory controller. Data exchange can be achieved by establishing a connection for exchange using the TCP/IP protocol. In the presented application, message exchange took place between the collaborative UR10e robots, both of which were controlled by a supervisory Matlab program. The control Matlab program generates movement points for each collaborative robot, enabling them to achieve visibly synchronized operation. By establishing this type of data exchange, it becomes possible to create applications in which the robots reshape the workpiece during movement. UR10e sodelovanost Matlab TCP/IP komunikacija UR10e Collaborative matlab TCP/IP communication true true false Slovenski jezik Angleški jezik Diplomsko delo/naloga 2023-08-29 21:12:21 2023-09-26 12:25:38 2023-09-27 03:09:07 0000-00-00 00:00:00 2023 0 Maribor 0 Maribor 1 spletni vir (1 datoteka PDF (V, 33 f.)) 0000-00-00 NiDoloceno NiDoloceno NiDoloceno 0000-00-00 0000-00-00 0000-00-00 007.52(043.2) 165856003 UN_Petauer_Matic_2023.pdf UN_Petauer_Matic_2023.pdf 1 0D33E88B2FA271B2E656BF845682349C 40573f298a2e5d7c6f982627171a0c3126dc434b1f176554e989db21bd704585 290bc559-4bc3-11ee-9b29-00155d000105 https://dk.um.si/Dokument.php?lang=slv&id=171454 Fakulteta za strojništvo 0 0 0