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 aim of the master thesis is to design a laboratory station and a control program operated by a collaborative robot IRB 14000 YuMi using an integrated effector camera to identify laboratory objects and control the progress of the task. In the introductory part, collaborative robots are briefly introduced, the IRB 14000 on which the task is implemented and the RobotStudio development environment together with the IntegratedVision extension are described in more detail. The following chapters describe the laboratory task itself, its solution and testing of the designed program.

The assembly process in Volvo Construction Equipment, in Braås, is fully hand-operated. The aim of this Master thesis project is to develop and evaluate different concepts of how the automation level could be increased. This study aims to find reliable technology/automation solutions that could be used in one or more operations in the assembly process and identify the benefits for Volvo Construction Equipment. The work will end up in concepts and recommendations on what areas of the assembly process would be most beneficial to automate first. Conversations, observations, and interviews took place in the assembly department to help in the selection of the station in which automation can be most easily introduced. Automated procedures at this station will have advantages since they will include robots. The robot can take over some of the assembly procedures, while the worker can be occupied with others. From an ergonomic perspective, these procedures will be improved; thus, the efficiency and the quality will be better, and this will be achieved because the human will focus on procedures where creativity and human hands are needed, and the robot will take over the most un-ergonomic and difficult operations.

The Advanced Manufacturing section at ÅF Pöyry AB is exploring the possibilities of virtual commissioning and digital twins. As part of this exploration, this thesis sets out to demonstrate a method of developing scalable, reusable and realistic digital mechatronic models – the heart of a digital twin – for the virtual environment in RobotStudio. Research has shown that one of the major obstacles to implementing virtual commissioning as a standard in industry today is the lack of scalable and reusable digital twins. This is also the experience of ÅF Pöyry AB. After reviewing existing and proposed methods for developing digital twins, this thesis explains the necessary steps for developing a SmartComponent in RobotStudio, using the programming language C#. The results show that the SmartComponent developed is scalable and thus reusable. It works with grippers with any number of fingers and allows gripping by applying pressure to the target object from both the outside and the inside. It is also realistic in the sense that the interaction between the grippers and the objects to be picked in the virtual environment behaves and looks like it does in reality. The implementation of the SmartComponent developed is much faster and less complex than the method used today at ÅF Pöyry AB. The downsides of the developed method are the added competence required of the automation engineer and the risk that the digital twin may not be future-proof. / Avdelningen Advanced Manufacturing på ÅF Pöyry AB utforskar möjligheter med ”Virtual Commissioning” och ”Digital Twins”. Som ett led i detta projekt har syftet med detta examensarbete varit att visa ett sätt att utveckla en skalbar, återanvändbar och realistisk digital mekatronisk modell för den virtuella miljön i RobotStudio. Tidigare forskning har visat, i linje med ÅF Pöyry AB:s satsning, att ett av de stora hinder för att Virtual Commissioning ska kunna implementeras som standard i industrin idag är bristen av skalbara och återanvändbara digitala tvillingar. Efter en genomgång av den befintliga och föreslagna metoden för att utveckla digitala tvillingar presenteras de nödvändiga stegen för att utveckla en SmartComponent för RobotStudio, med programmeringsspråket C#. Resultaten av utvecklingen och testen har visat att den utvecklade SmartComponent är skalbar och återanvändbar: den fungerar med gripare oavsett antal fingrar och den tillåter gripning både genom att applicera tryck på plockobjektet från utsidan och insidan. Den är också realistiskt på så vis att interaktionen mellan griparen och objekten som ska plockas i den virtuella miljön beter sig och ser ut som i verkligheten. Implementeringen av den utvecklade SmartComponent är också mycket effektivare och mindre komplex jämfört med den metod som används idag på ÅF Pöyry AB. Nackdelarna med den föreslagna metoden är de extra kompetenskraven för automationsingenjörer och risken att den digitala tvillingen inte är framtidssäker.

This diploma thesis is dealt with the virtual commissioning of a palletizing line, which is palletized using an industrial robot. In the theoretical part I describe the applications, divisions and effectors of the industrial robots and the reasons and the benefits of palletizing. Furthermore, the issue of virtual commissioning is described, including sensors, that are served for the proper operation of the workplace and the virtual simulation. In the practical part I describe the future workplace, creating a simulation and the program in the RobotStudio software.

This diploma thesis is focused on the design of a robotic workplace for arc welding and its subsequent virtual commissioning. The summary deals with knowledge from industrial robotics and arc welding, the system analysis is focused on the composition of the workplace and the principle of arc welding, including acting influences. In the practical part, several variants of the solution are proposed, the most suitable variant is processed in the form of a 3D model. This model is then simulated, including all processes, a control program is created, and virtual commissioning of the workplace is demonstrated.

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.

The current industry landscape is witnessing a trend towards high-mix production, which requires a reconsideration of the existing production systems. Although high levels of automation have been achieved in the industry, the traditional automated production line, designed for mass production of homogeneous goods, is not well-suited for high-mix production. To address this situation, flexible and adaptable alternatives have been sought to replace the inflexible and rigid traditional production lines. One of the proposed solutions is the combination of digital technology and physical automation, creating a highly connected and intelligent production environment. Such an environment requires the implementation of a cyber-physical production system that integrates Industry 4.0 technologies, such as Automated Guided Vehicles (AGVs) and flexible robots. This system enables a set of robots to perform different tasks instead of being exclusively dedicated to a specific task, making it moreadaptable and flexible. The integration of advanced technologies, such as AGVs and Cyber-Physical Production Systems (CPPS), can significantly enhance workflow optimization, reduce production times, and enable flexible layout adaptations to cater to the specific requirements of different products in the production line. Furthermore, it can facilitate better control of information and enable real-time monitoring of the production process, leading to improved production efficiency and quality. To demonstrate the potential of such a system, a virtual commissioning of a fully innovative production line has been carried out, encompassing all the previously mentioned technologies and elements. The virtual commissioning of the production line serves as a proof-of-concept for the cyber-physical production system and its ability to provide a highly connected, intelligent, and adaptable production environment. / <p>Utbytesstudenter</p>

The rapid advancements in Robotics and Mixed Reality (MR) have opened new avenues for intuitive human-robot interaction. In this thesis, an intuitive and accessible robot grasping application is developed using MR to enable programming using the operator’s hand movements, reducing the technical complexity associated with traditional programming. The developed application leverages the strengths of MR to provide users with an immersive and intuitive environment. It includes powerful tools such as QR code recognition for quick deployment of virtual objects or the utilization of a Virtual Station that can be placed at any desired location, allowing remote and safe control of the robot. Three modes have been implemented, including manual target placing and thorough editing of its properties, path recording of the user's hand trajectory, and real-time replication of the operator's hand movements by the robot.  To assess the effectiveness and intuitiveness of the developed application, a series of user tests are presented. These evaluations include user feedback and task completion time compared to traditional programming methods, which provide valuable insights into the application's usability, efficiency, and user satisfaction. The intuitiveness of the developed application democratizes robot programming, expanding accessibility to a wider range of users, including inexperienced operators and students. / <p>Det finns övrigt digitalt material (t.ex. film-, bild- eller ljudfiler) eller modeller/artefakter tillhörande examensarbetet som ska skickas till arkivet.</p><p>There are other digital material (eg film, image or audio files) or models/artifacts that belongs to the thesis and need to be archived.</p><p>Utbytesstudenter</p>

Robots manipulateurs sont couramment utilisés pour la projection thermique, qui peuvent être programmés de deux façons : par apprentissage et par la programmation hors-ligne. La programmation par apprentissage ne peut pas garantir la qualité de revêtements, en particulier pour les pièces de forme complexe. La technologie de la programmation hors-ligne est une bonne solution, en utilisant le fichier CAO de la pièce à revêtir. Le but de cette étude est de développer une trousse à outil - Thermal Spray Toolkit (TST) sous RobotStudio™ 5 (ABB), un logiciel de programmation hors-ligne, pour générer la trajectoire adaptée à l'application de projection thermique en fonction de la forme de la pièce et des paramètres cinématiques tels que la distance de projection, l'orientation normal à la surface, le débordement, le pas de balayage etc. Cela résout les difficultés de génération de la trajectoire adaptée à la projection thermique sur la pièce complexe sous RobotStudio™. En outre, deux méthodes d'amélioration de la trajectoire sont proposées pour maintenir la vitesse du CDO après les analyses. Les simulations et les essais ont prouvé que ces deux méthodes peuvent améliorer efficacement la stabilité de la vitesse du CDO ainsi que la qualité du revêtement. A la fin, l'axe externe rotatif a été appliqué en projection thermique et la programmation d'axe externe automatique a été intégrée également dans le TST. Les trajectoires verticale et horizontale ont été générées et analysées sur une pièce qui nécessite de l'utilisation d'un axe externe. Les simulations et les essais ont été réalisés pour ces différents programmes, ils ont montré que la trajectoire verticale a donné de meilleurs résultats que la trajectoire horizontale.