Robotska delovna celica s 6-osnim paralelnim robotom FANUC M-1iA

Tertinek, Miha

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Title:	Robotska delovna celica s 6-osnim paralelnim robotom FANUC M-1iA
Authors:	ID Tertinek, Miha (Author) ID Hace, Aleš (Mentor) More about this mentor... ID Gotlih, Karl (Mentor) More about this mentor...
Files:	UNI_Tertinek_Miha_2013.pdf (3,34 MB) MD5: C5A8E4E19BC479D7941260DC4653ABF2
Language:	Slovenian
Work type:	Bachelor thesis/paper
Typology:	2.11 - Undergraduate Thesis
Organization:	FS - Faculty of Mechanical Engineering
Abstract:	Diplomsko delo opisuje pripravo in realizacijo delovne celice z majhnim in hitrim paralelnim robotom Fanuc M-1iA, na katerem teče zanimiva demonstracijska aplikacija metanja igralne kocke. V naši robotski aplikaciji, ki smo jo imenovali Hazarder, robot vrže igralno kocko pod nadzorom uporabnika, in v kolikor pade šestica, robot uporabnika nagradi s čokoladico. Izdelava naše robotske aplikacije je obsegala programiranje meta igralne kocke tako, da smo robota naučili trajektorij, po katerih se naj giblje. Uvedli smo tudi strojni vid za prepoznavanje in lociranje objektov (kocke) ter štetja (pik). Priklopili smo še preprosto uporabniško konzolo za nadzor meta. Pri programiranju gibov in obdelavi podatkov s kamere je bil uporabljen Fanuc-ov preprosti robotski programski jezik TP. Izdelali smo tudi virtualno delovno celico v okolju Roboguide, da smo lahko preverili gibanje robota, ugotovili omejitve orientacije prijemala in možnosti kolizij z objekti v delovnem prostoru robota.
Keywords:	paralelni robot Fanuc M-1iA, virtualna robotska celica, strojni vid, kamera, pnevmatsko prijemalo, Roboguide
Place of publishing:	Maribor
Publisher:	[M. Tertinek]
Year of publishing:	2013
PID:	20.500.12556/DKUM-41604
UDC:	004.93:007.52(043.2)
COBISS.SI-ID:	17725462
NUK URN:	URN:SI:UM:DK:MUSXDBGR
Publication date in DKUM:	17.10.2013
Views:	2869
Downloads:	247
Metadata:
Categories:	KTFMB - FS
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Secondary language

Language:	English
Title:	Robotic work cell with 6-axis parallel robot FANUC M-1iA
Abstract:	This thesis presents the preparation and realization of the work cell with a small and fast parallel robot Fanuc M-1iA with an interesting demonstrative dice-throwing application installed. In our robotic application, named Hazarder, the dice is thrown by the robot under user's surveillance. If the outcome of the throw are six pips, the user is rewarded by being offered a chocolate bar. The production of our robotic application included programming the dice throw, so that the robot was taught on which paths it has to move; and we also incorporated a machine vision for the purposes of object recognition, location (dice), and counting (pips). Moreover, we added a simple user console to control the throwing. The movements and camera data processing were done via Fanuc's simple robotic program language TP. We also built a virtual work cell in the Roboguide environment in order to understand the robot's movements; to find out what the holder's orientation wise limitations are; and to see if there are any collision possibilities with the objects in the robot's workspace.
Keywords:	parallel robot Fanuc M-1iA, machine vision, virtual robotic work cell, camera, pneumatic gripper, Roboguide

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