Vytvoření demonstrační úlohy pro robot ABB IRB 140

Abstract

This bachelor thesis deals with the design and practical implementation of a cyclic demonstration task for the ABB IRB 140 industrial robot, located in the educational workstation of the Robotics Centre at VSB-TUO. The aim of the thesis was to replace the original non-cyclic task with a new solution that would be visually attractive for field presentation while serving as an advanced educational tool. The work is divided into two main parts: hardware design and software. In the hardware phase, three new functional stations adapted for a vacuum gripper (a modified storage rack, a spatial tree-structured rack, and a platform for the Towers of Hanoi) were designed in the CREO Parametric software and subsequently manufactured using 3D printing technology. The software part includes the development of control logic using a recursive algorithm in the RobotStudio simulation environment. The subsequent implementation on the real workstation required target point corrections and final optimization, which reduced the cycle time to 3 minutes. The result of the thesis is a reliably operating robotic cell supplemented by a set of documentation, including CAD models, a control system backup, and a user manual, making the task ready for use during teaching and robotics presentations.