This thesis presents a simulation model for the dynamics of the human hand for application to an anthropomorphic prosthesis. The Articulated Body Algorithm (ABA) algorithm was selected to model the dynamics of a tree type robotic structure. The ABA is a numerical Newton-Euler based algorithm that solves the forward dynamics (obtaining the joint accelerations from the applied torques and forces) for a joint-link model. The main advantage of this algorithm resides in the analysis of the system link by link rather than the entire system analysis. This feature enables the implementation of a computationally efficient code and makes the algorithm generic enough to be applied to almost any robotic structure, with minimal additional effort. Furthermore, as the basic algorithm only handles serial structures, it was modified to include the effect of the gravity, loads on the end-effector, elasticity and damping at the joints, the generalization to tree-type structures, and, finally, the inclusion of impact analysis.

This thesis presents a simulation model for the dynamics of the human hand for application to an anthropomorphic prosthesis. The Articulated Body Algorithm (ABA) algorithm was selected to model the dynamics of a tree type robotic structure. The ABA is a numerical Newton-Euler based algorithm that solves the forward dynamics (obtaining the joint accelerations from the applied torques and forces) for a joint-link model. The main advantage of this algorithm resides in the analysis of the system link by link rather than the entire system analysis. This feature enables the implementation of a computationally efficient code and makes the algorithm generic enough to be applied to almost any robotic structure, with minimal additional effort. Furthermore, as the basic algorithm only handles serial structures, it was modified to include the effect of the gravity, loads on the end-effector, elasticity and damping at the joints, the generalization to tree-type structures, and, finally, the inclusion of impact analysis.

Robotics and Automation field is booming in today´s scenario. Researchers and Technologist comes up with new ideas in the robotics field to achieve a higher productivity, flexibility and efficiency. To achieve the above goals, it shall be required that human and robot share their work space with each other and works in a collaborative nature. Safety is a main concern and in focus. Robot should not injure the operator in any way during working in robotic cell. In this master thesis main focus is to create a various test plans and validate them to ensure the safety level in robotic cell. The test plan should be validated in a real robot environment. The test plans consist of functional and individual verification of safety devices which are being used in a robotic cell at PTC which is known as smart automation lab. Apart from that it includes design simulation of robotic cells with manikins to ensure validation of safety in virtual environment. Design simulation of robotic cell with manikins are created in RobotStudio 6.06. However, smart components, trap routines, SafeMove and offline program in RAPID have been created. Various test results are incorporated in the results section to ensure the verification and validation of safe human robot collaboration of virtual environment in RobotStudio 6.06.

The cab assembly line in Oskarshamn is one of the world's most high tech production unit. With close to 300 robots the cab is assembled with merely programmed robots and no input from humans. Scania CV AB is a world leading manufacturer of trucks with high influence on the market globally. Even though robots do most of the work, there have been human brains behind the robot execution, and there is constant work ongoing to further increase efficiency and cycle times to meet the increasing global demand for logistics services. The robots are mainly programmed offline, using the ABB software Robotstudio, which basically creates a digital representation of the actual control system without interfering with the production. Testing upgraded programs as well as simulating them offline before implementation is an essential daily operation to make the production meet the demands. This thesis is divided into two objectives, one theoretical and one practical. The theoretical part focuses on the software, and consists of a critical analysis of a series of different software solutions for programming robots offline, as well as a look into how the offline programming processes work today in-house. The practical objective is to further improve the quality of the simulations conducted through creating tools to answer the calls from functional packages for the different processing equipment used on site. These functional packages lets you perform spot welding, gluing or gripping for instance, and as it is an outsourced service a lot of the coding is encrypted which prevents simulations being conducted with the pre-programmed routines, it makes the simulations crash. This report presents conclusions made regarding the use of offline programming equipment both in the regards of daily operations as well as long term strategies with digital twins and digitization. It also proves that the functional packages still can be simulated even though the code has been manipulated and encrypted at one point. It holds the complete ways of how to, from a 3D CAD model, create mechanisms, synchronize external axes, and creating smart components to answer digital inputs and presenting digital outputs to the system to have a fully functional simulation run.

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.

This work deals with the virtual and later real commissioning of the workplace for cold spraying of rotating parts, which is located in the laboratories of the Institute of Materials Science and Engineering, Faculty of Mechanical Engineering, Brno University of Technology. The workplace put into operation in this way serves the employees of the mentioned institute for experimental activities in the field of cold spraying. The theoretical part of the thesis describes all the essentials associated with virtual commissioning and the theory of cold spray. The practical part then deals with the creation of a robotic program, including the user interface, which is used to control the workplace. Part of this diploma thesis is also the realization of the connection between the external motor driver and the robot controller via the PROFINET communication bus.

This thesis deals with modeling and simulation of production process, which consists of a few stationary robots. This model of production process is made in program Tecnomatix Process Simulate. Principle of digital manufacturing and virtual production is described in the first chapter. The second chapter describes how to work with program Tecnomatix Process Simulate and how to make a design of production process of continuous and spot welding. The controlling program of PLC SIMATIC 300 and the program for process visualization are described in the last chapter.

This thesis deals with robot modelling and simulation of the robot behavior. At first we discuss a benefit of this kind of simulation. Next we describe the general scheme of robot. After that we select the environment where robot will be simulated in. There is a conception of this robot and explanation of the implementation in chosen environment. We continue with design and realization of the communication interface of this robot. The result of this procedure is robot with independent movement able to response to the obstructions and avoid them. Robot is able to create a map of the environment and use this map to find out the optimal way to the scheduled goal using the A* algorithm and achieve this goal. There is a possibility to use more robots in the scene. These communicate and the nearest one is able to get the goal.

Tato práce se zabývá vytvořením lokalizačního a navigačního systému mobilního robota pro vnitřní prostředí pomocí frameworku ROS. Stručně je zde představen projekt, v rámci kterého diplomová práce vznikla, a jeho cíle. V rešeršní části je v krátkosti popsán ROS framework, simulační prostředí Gazebo a senzory, kterými robot disponuje. Následuje vytvoření modelu robota a simulačního prostředí, v němž jsou vyzkoušeny lokalizační, navigační a další rutiny. V experimentální části je provedeno testování senzorů a popsáno využití jejich výstupů. Následně jsou upraveny a otestovány algoritmy ze simulace na reálném robotovi. V závěru jsou popsány vytvořené vzdělávací minihry. Hlavním výstupem této práce je funkční stavový automat, který umožňuje manuální ovládání, zadávání cílů pro navigaci a v případě potřeby zajistí autonomní nabití robota.

As the world is evolving very fast with the developments of new technologies and softwares in design and manufacturing, business organizations and manufacturing industries will always be adapting to the new technologies and softwares for increasing the cost and time efficiency in the development of products. So, this thesis focuses on a comparative study between two Dassault Systems softwares in which, one is mostly used CAD software by industries for a long time, and one is the latest developments in the CAD softwares with satisfying business requirements. For this comparison study, the two methods called design automation and robot simulation are used in the development of modular fixtures platforms used in automobile manufacturing industries. In the first method, the design and assembly of modular fixtures platform are done which holds the automotive car sheet pillars together. With a single mouse click, the complete design and assembly of the modular fixtures can be done using automation. In the second method, the spot-welding manufacturing operation is done to join the car sheet pillars together to produce the B-pillar of the Body in white (BIW) for the automobile, with the help of a welding gun connected to ABB robot arm, using automation in robot simulation. This work takes place in CATIA V5 and 3D Experience, and the final results obtained in both the software are compared and discussed in the results part of this report. Automation in CAD has been one of the advanced developments that happened in the 21st century through which most of the engineering knowledge and intent can be captured and reutilized. CATIA V5 & 3D Experience Automation is done using two programming languages called VB (Visual Basics) and VB.net.