Robot manipulators are getting more and more attention nowadays. This is due to their high precision and the speed they provide while executing their tasks. The desires for such high standards are increasing exponentially due to the extended workspace that manipulators provide. Therefore, a safe controller is needed to make it possible for the robot to work alongside people considering the safety precautions. These safety preconditions are widely spread, even when the needs for better human-friendly robots are rising. This thesis will introduce and explain a way to model a 6-axis robot by using its dynamical properties as well as the development of a joint space inverse dynamic controller. The controller will be tested in various different ways. Firstly by adding noise to the measured data. Then testing the robustness of the control model, while the simulated model includes properties different from those used for the controller itself. The different properties would for example be payloads and the inertia of the links. Thereafter, evaluating the precision of a followed path that is given by an operational space trajectory. The outcome of these experiments show promising results. The results show that the controller is able to manage a noise in both the joint angle and joint velocity. It also shows that an error in the payload data will give a small error in the joint angles, sequentially that gives an acceptable error for the end-effector in the operational space. Furthermore, the controller manages to keep the maximum errorin the joint angle low, while it is following a trajectory in the operational space.

Mechanical and electrical stresses reduce the life of all devices. The lifetime of some devices is affected by these stress factors more, others less. For high voltage products, it's not just a lifetime or a price, but a security that should be the first. This thesis deals with protection of elements of high voltage switchboards. Specifically, it is a PWC600 Point-on-Wave Controller that attempts to minimize stress when connecting or disconnecting loads or generators.

The diploma thesis deals with the analysis of suitable technologies to produce the switchgear door of product UniGear with a design of more efficient production technology. Thesis is divided into four main chapters, in which the first part describes the doors of individual switchgear compartments, design of door materials, technology for achieving desired shape of a base plate, possibilities of sheet metal forming and other technologies not linked with sheet metal processing. The second part of the thesis deals with study of the whole current production process of doors in ABB s.r.o. from sheet metal processing till powder coating. The thesis also contains proposal of innovated production technologies with a selection and evaluation of the final variant with technical and economic evaluation of current and proposed solutions.

Diploma thesis deals with creating a virtual model of machine for processing bulk materials from FLSmidth in ABB RobotStudio environment. This machine is controlled by Beckhoff CX8090 PLC. Communication between TwinCAT2 controlling program and RobotStudio simulation is provided TCP/IP.

The goal of thesis is to implement Kaizen method into manufacturing process and so mineralize the scrap of production and at the same time get an numerical overview of the guarantee for the quality of product. Implementation this method will lead to elimination of existing random check of the process. Place: ABB s.r.o. Brno (company is specialized to production switchgears)

The thesis deals with the topic of intelligent installation systems in the context of non-industrial automation. The first part discusses the KNX technology as well as realization of educational board demonstrating the i-bus® intelligent installation by ABB, designed according to KNX/EIB standard. Text further explains the specifics of board elements in detail. Second part is dedicated to created tutorial tasks, targeted to be used by students. These tasks are focused on the basic board element properties and their collaboration.

The diploma thesis deals with the optimization of powder-coating process resulting in a reduction of labor intensity during finishing components in gas insulated switchgear (GIS). The thesis is divided into five main chapters that describe characteristic and function of gas insulated switchgear (GIS), the theory of powder-coating, including mechanical and chemical pretreatment of surfaces, the studies of contemporary quality of coating process in the company ABB s.r.o. with classification of components of GIS according to their function. This chapter also contains detailed analysis of section of coating process during the processing of selected parts (housing and conductor). The thesis also contains detailed studies of masking of surfaces at coating parts, specifies the most common defects and determines the main cause presented in a well-arranged chart, design, description and realization of optimization solutions with selection and evaluation of final version. An economic comparison of contemporary condition of powder-coating process with designed optimization solution is stated at the end of the thesis.

The demand for collaborative, easy to use robots has increased during the last decades in hope of incorporating the use of robotics in smaller production scales, with easier and faster programming. Artificial intelligence (AI) and Machine learning (ML) are showing promising potential in robotics and this project has attempted to automatically solve a specific assembly task with Behavior trees (BTs). BTs can be used to elegantly divide a problem into different subtasks, while being modular and easy to modify. The main focus is put towards developing a Genetic algorithm (GA), that uses the fundamentals of biological evolution to produce BTs that solves the problem at hand. As a comparison to the GA result, a so-called Automated planner was developed to solve the problem and produce a benchmark BT. With a realistic physics simulation, this project automatically generated BTs that builds a tower of Duplo-like bricks and achieved successful results. The results produced by the GA showed a variety of possible solutions, a portion resembling the automated planner's results but also alternative, perhaps more elegant, solutions. As a conclusion, the approach used in this project shows promising signs and has many possible improvements for future research.

Presented work deals with heat transfer and its methods. At the beginning thesis describes the theory and the ways of heat transfer with connected quantities and equations. Then it explains the stack effect and impact of temperature on electro technical device. In work is also described ABB driver ACS line and calculation of heat transfer according to IEC 60890 standard. In the practical part there is the calculation of heat transfer in Flow Simulation simulating CFD program solved and finite element method is mentioned. Important part of work is devoted to setting and optimization of simulation. In conclusion are made some changes of construction of driver, dependence on heat transfer is inspected.

Syftet med denna studie är att skapa en ökad förståelse för hur svenska industriföretag kan arbeta på en utländsk marknad för att ta sig runt det psykiska avståndet. Detta har gjorts genom att titta på hur ABB, Sandvik, Scania och Volvo Cars arbetar i Malaysia med nätverk och olika åtgärder för att hantera skillnader mellan länderna. Den reviderade Uppsalamodellens definition av nätverk och CAGE-ramverkets definition av psykiska avstånd används för att studera företagensoch medias narrativ. En kvalitativ metod används där en innehållsanalys av sekundärkällor har kodats för att ta ut information som varit relevant för denna studie. De fyra företagen har använt sig av nätverk för att kunna bedriva en fungerande verksamhet och två av företagen har vidtagit åtgärder för att minska det psykiska avståndet. Erkännanden: Vi skulle vilja tacka vår handledare Lena Zander och seminariegruppen för diskussionerna och den konstruktiva feedback de bidragit med under uppsatsskrivandet. / The purpose of this study is to create a better understanding of how Swedish industrial companies can work in a foreign market to overcome the psychic distance. This has been done by looking at how ABB, Sandvik, Scania and Volvo Cars work in Malaysia with networks and different measures to manage differences between the countries. The definition of networks used in the revised Uppsala model and the definition used in the CAGE-distance framework of psychic distance are applied to study corporate and media narratives. A qualitative method is used where a content analysis of secondary sources has been coded to extract information relevant to this study. The four companies have used networks to operate and two of the companies have taken steps to reduce psychic distance. Acknowledgements: We would like to thank our supervisor Lena Zander and the seminar group for the discussions and constructive feedback they have provided during the essay process.