Skládání Rubikovy kostky s využitím průmyslového robotu

Abstract

This thesis examines the use of an industrial robotic arm to solve a Rubik’s Cube. The first sections of the thesis include a review of similar projects and a description of the hardware used: a KUKA KR3 R540 industrial robot and a GEH6040IL-31-B gripper designed to perform moves on the cube. Two stands were designed for the project to hold the Rubik’s cube. The first design, which did not prove successful in practice, emphasized speed of solving. The second design, which became the final version of the stand, is slower but functional. The robot’s cube detection and move execution are controlled by a program implemented in Python. The final section provides a detailed description of the implementation of a demonstration of solving the cube using the Old Pochmann method.