This master’s thesis deals with a description of Laser Welded Common Rail, which is produced by the company Bosch Diesel, s. r. o. in Jihlava. The theoretical part is focused primarily on a proposal for an industrial robot which would be manipulated with Common Rail during the laser welding process. The practical section is concerned with changes in the current paths of the robot to reduce production times, and to avoid using the same parts of the robot for the whole duration it is being manipulated with the Common Rail. At the end of this master's thesis is a techno-economic evaluation of previous alternatives, and it determines the appropriate option for robotic manipulation with the Common Rail during the laser welding process.

Reaching a target quickly and accurately with a robotic arm containing multiple joints while avoiding moving and fixed obstacles can be a daunting (and sometimes impossible) task for any user behind the remote control. Current existing solutions are often hard to use and to scale for all user body types and robotic arm configurations. In this work, we propose a vision-based gesture recognition approach to naturally control the overall posture of a robotic arm using human hand gestures and an inverse kinematic exploration approach using the FABRIK algorithm. Three different methods are investigated to intuitively control a robotic arm's posture in real-time using depth data collected by a Kinect sensor. Each of the posture control methods are users scalable and compatible with most existing robotic arm configurations. In the first method, the user's right index fingertip position is mapped to compute the inverse kinematics on the robot. The inverse kinematics solutions are displayed in a graphical interface. Using this interface and the left hand, the user can intuitively browse and select a desired robotic arm posture. In the second method, the user's right index fingertip position and finger direction are respectively used to determine the end-effector position and an attraction point position. The latter enables the control of the robotic arm posture. In the third method, the user's right index finger is mapped to compute the inverse kinematics on the robot. Using static gesture with the same hand, the user's right index finger can be transformed into a virtual pen that can trace the form of the desired robotic arm posture. The trace can be visualized in real-time on a graphical interface. A search is then performed using an inverse kinematic exploration and the Dynamic Time Warping algorithm to select the closest matching possible posture. In the last two proposed methods, different search strategies to optimize the speed and the inverse kinematic exploration coverage are proposed. Using a combination of Greedy Best First search and an efficient selection of input postures based on the FABRIK's algorithm characteristics, these optimizations allow for smoother and more accurate posture control of the robotic arm. The performance of these real-time natural human control approaches is evaluated for precision and speed against static (i.e. fixed) and dynamic (i.e. moving) obstacles in a simulated experiment. An adaptation of the vision-based gesture recognition system to operate the AL5D robotic arm was also implemented to conduct further evaluation in a real-world environment. The results showed that the first and third methods were better suited for obstacle avoidance in static environments not requiring continuous posture changes. The second method gave excellent results in the dynamic environment experience and was able to complete a challenging pick and place task in a difficult real-world environment with static constraints.

This diploma thesis deals with the design of a virtual model of a robotic workplace. Robot and robotic workplaces are researched. Further, the design and safety phases of these workplaces are discussed. A conceptual model of the robotic workplace with robot IRB 4400/60 is designed, which is placed in the machine laboratory C1 of the Institute of Production Machines, Systems and Robotics at the Faculty of Mechanical Engineering of the Brno University of Technology. The virtual model is created in Process Simulate 13.0. It is designed to manipulate the dice, weld and operate the vertical machine tool.

The thesis deals with the design of a robotic workplace for the operation of injection moulding machines. It is concerned with the design of the workplace component deployment and the evaluation of the best variant using a multi-criteria assessment. In detail, attention is paid to the end effectors of industrial robots and the assembly workplace, where finishing operations take place. Finally, the risk analysis and technical and economic evaluation of the proposed workplace are carried out.

The diploma thesis deals with the structural design of the end effector for handling with the glass stopper of the hydrogen reactor of high temperature semiconductor diffusion furnace. The work includes the summary of information about semiconductor diffusion furnace, the choice of the appropriate industrial robot, the design of the end effector structural solution, the design of its supporting structure, the power and strength calculation, the design of the end effector control and economic evaluation of its production. The 3D model together with 2D production documentation which contains the assembly drawing of the individual parts of end effector was created on the basis of the end effector design.