Posredno programiranje robota ACMA XR701

• Main Author: Filipič, Mitja
• Other Authors: Rodič, Miran, Gotlih, Karl
• Format: Master Thesis
• Language: Slovenian
• Published: [M. Filipič] 2014
• Subjects: ACMA XR701; April 3000; robot; ABB; RobotStudio; C++; PTP; virtualno programiranje; kinematika; ročna konzola; virtual programming; kinematics; hand console; info:eu-repo/classification/udc/004.896:007.52(043.2); Koda; sami
• Online Access: https://dk.um.si/IzpisGradiva.php?id=46981; https://dk.um.si/Dokument.php?id=69502&dn=; http://www.cobiss.si/scripts/cobiss?command=DISPLAY&base=cobib&rid=18603286&fmt=11

V današnji hitro rastoči industriji si težko predstavljamo, da bi vse robote programirali z ročno konzolo, kaj šele, da bi delo potekalo ročno. Robot ni živo bitje, zato je najbolje, če ga lahko obremenimo, da dela štiriindvajset ur na dan in sedem dni na teden. Roboti delujejo samostojno in po navadi brez človeške pomoči, saj so programirani po nekem algoritmu, ki se v velikih industrijah po večini izvaja ciklično. Vsak poseg in oviranje robota ali robotske linije lahko povzroči velik zaostanek in velike finančne izgube za podjetje. Tako se je začel razvoj virtualnega izdelovanja robotov in robotskih linij. Virtualne robote so opremili z virtualnim krmilnikom, ki je imel enake lastnosti kot realni krmilnik. Krmilne virtualne tastature pa so enake kot realne. Tako so lahko programerji že samo virtualno robotsko linijo ali robota sprogramirali v virtualnem okolju. To je omogočilo tudi preizkušanje programa in odpravljanje nepotrebnih napak. Ob sami izdelavi programa tako niso posegali v realnega robota, dokler program ni pravilno deloval. Podjetje ABB je razvilo program RobotStudio, v katerem lahko zgradimo model robotske celice, linije ali robota. Vse to lahko pred izdelavo končnega sistema preizkusimo in prikažemo s simulacijo. V magistrskem delu je bil izdelan program za vodenje virtualnega robota ACMA XR701, pri čemer je bil uporabljen model celice, predhodno narejen v okviru prejšnjih magistrskih del. Dobljeno kodo iz programa ABB RobotStudio smo s programom v jeziku C (napisanem v programu Dev-C++) pretvorili tako, da jo lahko prenesemo na industrijskega robota ACMA XR701. Postopek pisanja programa v RobotStudio je opisan na začetku magistrskega dela. Nato so opisani narejen program v jeziku C, njegovo delovanje in uporaba. Ko se izhodna datoteka iz programa C prenese kot datoteka .txt v program APRIL 2000, sledi postopek pretvorbe datoteke .txt v datoteko .bat. Opisan je tudi postopek, kako narediti rezervno kopijo robotskega programa v primeru, če se nam koda izbriše. Na koncu so podani rezultati magistrskega dela. In today’s fast growing industry it is hard to imagine all robots to be programmed with a hand console let alone work being manual. Robot is not a live being so it is the best if it can be “employed” for 24 hours per day, seven days per week. Robots are operating autonomously, usually without human help since they are programmed according to a certain algorithm which in big industries it is usually cyclically executed. Every intervention or obstruction of robot or robot’s production line can cause a big delay and financial losses for a company. This is how a development of virtual manufacturing of robots and robotic production lines have begun. Virtual robots were equipped with a virtual controller which had the same properties as a real controller. Controllable virtual keyboards have the same layout and functionality as real keyboards. Thus software engineers can create or change a virtual robotic production line or a robot program in a virtual environment. This also enabled testing of the program and eliminating unnecessary errors. Thus at the time of writing a program a real robot was not disturbed until a program started working correctly. The ABB company designed software RobotStudio in which a robot cell, a production line or are robot can be modelled. All this can be preliminary tested and presented with a simulation. In this Master thesis a program was made for the control of a virtual robot ACMA XR701 where a cell was already previously created on a basis of work described in earlier Master’s theses. The resulted code from ABB RobotStudio was converted using a software written in C (using Dev-C++) for the industrial robot ACMA XR701. In the beginning of Master thesis it is described how software in RobotStudio was developed. After that a program made in C is described, its operation and functionality. The output file from program is transferred as a .txt file to a program APRIL 2000, this is followed with a conversion from a .txt file into a .bat file. At the end achieved results are presented.