20.500.12556/DKUM-99707 Kinestetično programiranje ur10e robota s pomočjo siemens s7-1500 Kinesthetic programming of the ur10e robot via siemens s7-1500 Magistrsko delo obravnava razvoj sistema za kinestetično programiranje kolaborativnega robota UR10e z uporabo krmilnika Siemens S7-1500 in programskega okolja TIA Portal. Cilj naloge je omogočiti zajem, obdelavo in ponovno izvedbo poti, ki jo operater robota nauči z ročnim vodenjem. Komunikacija med robotom in krmilnikom poteka preko PROFINET komunikacije, pri čemer PLK zajema TCP položaj, rotacije in hitrost robota. Zajete točke se shranijo v podatkovni blok nato se izvede filtriranje translacij z Gaussovim jedrom, filtriranje rotacij s kvaternioni ter linearna segmentacija poti. Obdelane točke se robotu paketno pošiljajo prek registrov s plavajočo vejico. Delovanje sistema je bilo preverjeno v laboratoriju, kjer je robot uspešno izvedel naučeno pot okrog obdelovanca. Rezultati kažejo, da obdelava poti zmanjša tresljaje, odstopanja in nezaželene premike ter omogoča bolj zvezno ponovno izvajanje gibanja robota. This master's thesis addresses the development of a system for kinesthetic programming of a UR10e collaborative robot using a Siemens S7-1500 controller and the TIA Portal software environment. The objective is to enable the capture, processing, and re-execution of a path taught by the operator through manual guidance. Communication with the robot and controller is established via PROFINET, with the PLC capturing the robot's TCP position, rotation, and velocity. The captured points are stored in a data block, followed by Gaussian kernel filtering of translations, quaternion-based rotation filtering, and linear path segmentation. The processed points are transmitted to the robot in packets using floating-point registers. The system's operation was verified in a laboratory setting, where the robot successfully executed the learned path around a workpiece. The results demonstrate that path processing reduces vibrations, deviations, and unwanted movements, thereby enabling smoother, continuous re-execution of the robot's motion. Kinestetično programiranje TIA Portal PLK robot sodelovalni robot UR10e Kinesthetic programming TIA Portal PLC robot collaborative robot UR10e true true false Slovenski jezik Angleški jezik Magistrsko delo/naloga 2026-08-24 14:15:52 2026-09-18 07:58:35 2026-09-19 03:06:29 0000-00-00 00:00:00 2026 0 Maribor 0 0000-00-00 NiDoloceno NiDoloceno NiDoloceno 0000-00-00 0000-00-00 0000-00-00 MAG_Jurgec_Timotej_2026.pdf MAG_Jurgec_Timotej_2026.pdf 1 2EC1F6B10610F987C311FC9C55D4DFF4 f274b5d21fc58856e67d205f4184dc055a309f4d029273f354a46cdc1cb841f9 b6d818ba-b1f5-11f1-b05b-00155d0001be https://dk.um.si/Dokument.php?lang=slv&id=212690 Fakulteta za strojništvo 0 0 0