Offline programování průmyslových robotů s využitím přístupu digitálního dvojčete

Abstract

This diploma thesis deals with offline programming of a KUKA robot using SW Tecnomatix Process Simulate. The thesis analyzes the market of software for offline programming. The task is performed on the KUKA ready2 educate training cell. The cell contains a robotic arm KUKA KR 3 R540, a robotic controller KR C4, application elements, PLC and HMI. A digital twin was created for this real model in program Tecnomatix Process Simulate, in which the kinematics of the arm and the gripper were created. Created robotic operations use different tools and beses, types of movements and speeds. The resulting program starts two operations according to the closed signal on the HMI panel. The resulting program was tested on a real device and a digital twin, the digital model had to be modified after testing, as it did not correspond to the real one.