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Metody programowania robotów

Łabuński Wojciech

Utrzymanie Ruchu

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2022

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Nr 1

55--58

PL

Programowanie robotów jest kluczowym elementem procesu robotyzacji procesów przemysłowych. W związku z rosnącą popularnością robotów warto przyjrzeć się, w jaki sposób można to zrobić. W tym artykule skupimy się tylko na wycinku całego zagadnienia – spojrzymy na języki programowania i ich cechy charakterystyczne na przykładzie języków trzech popularnych producentów robotów: ABB, Kawasaki i Kuka.

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Software for the control and monitoring of work of a collaborative robot

Łabuński Wojciech, Burghardt Andrzej

Journal of Automation Mobile Robotics and Intelligent Systems

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2021

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Vol. 15, No. 3

29--36

EN

The development of robotic systems is correlated with the development of their software. Expanding robot implementation areas and attempts to replace more and more groups of activities carried out by people requires increasing the degrees of freedom, introducing robot interaction with the environment, and preparing software that manages over six degrees of freedom in a friendly, understandable, ergonomic, and functional manner. The authors proposed a method of programming a collaborative robot with the use of a joystick, created the necessary software, constructed elements of the system, obtaining an original, flexible, and intuitive solution. As part of the work, the proposed solution has been simulated and verified. Verification of the proposed solution was carried out on a real bench equipped with a cobot, Kawasaki duAro.

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Robotic machining in correlation with a 3D scanner

Kurc Krzysztof, Burghardt Andrzej, Szybicki Dariusz, Gierlak Piotr, Łabuński Wojciech, Muszyńska Magdalena, Giergiel Józef

Mechanics and Mechanical Engineering

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2020

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Vol. 24, nr 1

36--41

EN

The article presents an original method of communication and data exchange in a robotic machining station consisting of two robots, a positioner and a 3D optic scanner. The task of one of the robots, equipped with a 3D optic scanner, was to receive point cloud of a detail (mould) attached to the positioner table. After detail digitalisation, the received point cloud was adjusted to (compared with) a model detail in the form of a CAD file in the Atos Professional software. In the software, casting material excesses were received in places selected on the detail. Values of the excesses and their coordinates were saved in the script and sent to the robot controller using TCP/IP protocol. The other of robots, equipped with the force control addition and the option of obtaining various processing tools, received sent excess and its coordinates. The other robot adjusted the processing parameters to random excesses, the value of which was received from measurements of the optic scanner of the first robot.