With the emerging development of new technology and the constantly falling prices, more companies will find interest in industrial robots. Until today, the typical robot users have been large scale car manufacturers. But there exists a big potential market within the small to medium businesses that already uses of CNC machines. Attracting smaller businesses to start using industrial robots could open up the doors to new possibilities and increase their production. Unfortunately, most people still lack the knowledge of operating and programming industrial robots. But many companies have knowledge in G-code which is normally used in CNC machines. That is why this work is focussing on the development of a software that opens up the possibility to make use of G-code to program advanced robot paths with minimal user input. By striving for easier handling of robots, the vision about a more efficient and automated society will become one step closer. The introduction straightens out the different basic principles of CNC milling machines and robots. This will introduce the reader and highlight the different similarities and differences that exist between robots and CNC mills. The goal of this work has been to create an add-in application for ABB’s off-line programming software RobotStudio that was able to import at least one type of file format commonly used for CNC milling. The program should be able to handle some basic functionality, the focus has been on the standard iso6983 type of G-code. The project started with a literature study that gave the author a better insight in both the previous research within the area but also deeper knowledge of the systems CNC mills and robots. The work continued with the development of a software able to import the specified file format. The software has been built in C# and is built as an add-in software for ABB’s offline programming software RobotStudio. The result presents a software that is able to read different types of G-code and translate them into generated paths in RobotStudio. The software also has an inbuilt function in order to parameterize the G02 and G03 commands that represent curves in G-code into straight line segments of the type MoveL in RobotStudio.

This diploma thesis deals with the design and virtual commissioning of a robotic workplace designed for glueing and assembling a car headlight. The thesis contains a summary of available information on the matter of virtual commissioning and industrial robotics. It also contains a system analysis of the necessary equipment, followed by a design of several workplace variants. The final solution for which the 3D model is made is selected from them. With it, in the RobotStudio software, a simulation of all processes taking place at the workplace is created. On its base, a control program is created and debugged, and virtual commissioning of the workplace is performed.

The master thesis describes the design and digital commissioning of a robotic production system for 3D concrete printing. The theoretical part of the thesis includes an analysis of the current state of knowledge in the field of 3D printing in industrial automation. It also includes a detailed system analysis of the problem, in which the requirements and elements of the production system are specified. In the applied part of the thesis, a 3D model of the workplace was created and a simulation of the entire production process and digital commissioning of the system were performed using the ABB RobotStudio software. The output of the of the application part of the thesis is the design is the design of the workplace with a debugged control program ready for use in real operation.

This master‘s thesis is about the digital commissioning of a robotic production system for a machine tool tending. The initial research describes the current state of the art in the field of industrial robotics. Their types and possibilities are followed by the types and SW capabilities for digital commissioning. The system analysis of the robotic work cell. The practical part of this thesis describes the creation of the digital model and SW design. At the end of the thesis is performed virtual testing of the robotic system.

This diploma thesis is focused on the design of a robotic workstation for laser marking of aluminium hinges for the automotive industry. Robots remove wheel hinges from palettes at the end of a preassembly line, mark them a sort them. At first, selected marking technologies used in the automotive industry are introduced. Afterwards, a few robot and process simulation software are described. Subsequently, several layout variants are created as viable options for process handling and the chosen variant is designed in detail. Using RobotStudio software, a simulation of the robotic marking cell is made for process verification. Finally, a technical - economic evaluation is performed.

Industry 4.0 has caused exceptional changes in the industrial world. A relevant breakthrough is the concept of Cyber-Physical Production System (CPPS) which involves a system of interconnected entities with the main objective of achieving flexibility, which is essential for the manufacturing industries to remain competitive due to the actual demand for customization. The project suggests the use of a robot cell distribution called robot island as a solution to address this problem. In the implementation, a virtual model and program will be presented with flexible mobile robots, AGVs and a PLC. All are designed following the three principles of the CPS using RobotStudio and CODESYS to simulate and evaluate the results. The research demonstrates how autonomous, modular, flexible and adaptable to changes in product or production process system is, for example with the integration of the concept of the resource pool and variations in the product characteristics. The resulting executable is made with standardised modules so it can be extrapolated to other manufacturing processes, opening a wide range of possibilities for this island of robots. / <p>Utbytesstudenter</p>

BACKGROUND: The integration of robotics, and mixed reality has ushered in a substantial revolution within the realm of Industry 4.0. The incorporation of robots into the manufacturing sector plays a pivotal role in enhancing productivity, in which humans and robots collaborate with each other. However, the current robotic system operates within predefined pathways exclusively, lacking an automated mechanism for identifying obstacle free routes to facilitate the movement of robot . Also, in the Human Robot Collaboration , there exists a deficiency in visualising robot motion and status, consequently arise safety vulnerabilities for human operators. OBJECTIVES: This thesis aims to implement a pathfinding algorithm for the robot movement using a mixed reality environment. This Mixed Reality application is used to assign targets and handle obstacles in the robot movement path. The visual guide about the robot movement path, the state of the robot and the tasks to the user that will be displayed using MR. METHODS : In pursuit of the thesis objectives, a Mixed Reality environment was developed using Unity alongside MRTK plugins. Within this framework, an A Star pathfinding algorithm was implemented, facilitating the computation of obstacle free routes between source and destination points. This MR environment not only visualises the trajectory of the robot 's movement but also presents robot status updates and an intuitive interface for operator robot communication. The development process involved creating essential code using C# within the Visual Studio IDE. This code was subsequently deployed onto the HoloLens 2, the designated hardware device for MR applications. The positioning and alignment of virtual objects in relation to the physical world were achieved using the QR code methodology. In this context, source and destination points for the robot 's movement were symbolised as targets, while obstacles were represented by square game objects. For the control and communication of the ABB GoFa C RB 15000 robot, RAPID code was devised within Robot Studio.To guide the thesis, a constructivist philosophical paradigm was embraced, aiming to enhance efficacy. Ethical considerations were scrupulously considered for data collection, prioritising user privacy within the MR environment. Furthermore, commitment to sustainability was maintained throughout the thesis work, yielding environmental, economic, and societal advantages. ANALYSIS: The project that was developed underwent analysis through the scenarios, including both obstacle laden and obstacle free pathfinding situations. The A Star pathfinding algorithm, effectively calculated the obstacle free routes between targets and accomplished designated robotic tasks. This implementation not only offered visual path guidance but also supplied status updates. The analysis process involved observations, video recordings, and documentation. The findings indicated that the created Mixed Reality environment indeed enhanced safety and cognitive ergonomics for the operator. This section also outlines the industrial applications of the project developed. CONCLUSION: Successful development of a Mixed Reality environment has been achieved, aimed at enabling automated obstacle free pathfinding. This environment also offers visualisations for path and status information, with the goal of enhancing safety and cognitive ergonomics in Human Robot Collaboration. Throughout this thesis endeavour, strong attention has been paid to ethical considerations and sustainability.

This bachelor thesis aims to integrate and evaluate a 3D printing robotic cell at the SmartIndustry Group – SIG lab at Linnaeus University (LNU).A sustainable structure consisting of wood fiber polymer composites was 3D printed withan industrial robot. Sustainable 3D printing material can be recycled or burned for energyafterwards. The 3D printing material used in this thesis stems from certificated forests. The objective is to utilise this technology in manufacturing courses and research projectsat the SIG lab at LNU. This objective is achieved by creating an operation manual and avideo tutorial in this thesis.The integration and evaluation process will involve offline robot programming,simulation, and practical experiments on the 3D printing robotic cell.

Large Scale Additive Manufacturing (LSAM) technology has emerged as a transformative force in the manufacturing industry. Using robots and advanced material deposition systems, LSAM facilitates the efficient creation of large-scale components with exceptional precision and reduced production times. Beyond its capacity to manufacture complex structures, this technology drives innovation by fostering the exploration of new materials and designs, opening new frontiers in the aerospace, automotive, and construction sectors. The synergy between robotics and additive manufacturing in LSAM represents a significant advancement toward the future of manufacturing, where customization, efficiency, and sustainability are paramount.  Within the framework of this research, conducted in collaboration with ABB and RISE, a series of tests have been developed to optimize printing parameters when transitioning from one material to another. This study showcases how simple adjustments in the workflow of robotic stations can lead to significant improvements in print quality and increased resource efficiency, paving the way for more precise and sustainable manufacturing.  This research has not only generated valuable insights into the behavior of LSAM under different operating conditions but also provided practical solutions for its continuous improvement. These findings are relevant for the continuous improvement of large-scale additive manufacturing processes and provide important insights for future research in the fields of robotics and advanced manufacturing. Additionally, a systematic methodology has been developed to evaluate and validate results, ensuring the reliability and reproducibility of findings. These achievements solidify the role of LSAM as a fundamental technology in the evolution of the manufacturing industry toward a more efficient and sustainable future.

This paper presents a comprehensive study on the implementation of real-time digital twins for industrial cobots, with a focus on the ABB GoFa CRB 15000 cobot. It highlights the relevance of digital twins in the context of Industry 4.0 and their ability to improve operational efficiency by representing physical processes in virtual models. The project's primary objective is to develop a real-time digital twin system to develop the bidirectional monitoring and control of industrial cobots, particularly in assembly tasks. This paper addresses the challenges encountered and the proposed solution, which include offline and online programming, the adoption of the OPC UA protocol for communication, and the use of ABB RobotStudio for simulation. A framework for understanding the implementation is provided, followed by a detailed analysis of the results obtained, as well as discussion and conclusions. An exploration of possible future work is also included, providing a comprehensive view of the project and its importance in the field of industrial robotics and digital twin technology.