Simulace multimove aplikace s využitím automatické výměny nástrojů s dvojicí robotů IRB 1200

Abstract

The aim of this master thesis is to design, program and test a demonstration task for cooperative control of two ABB IRB 1200 industrial robots using MultiMove technology and an automatic tool changer system. The main contribution is the design of a custom software architecture based on TCP/IP communication between the IRC5 controller and an external Python application, which enables dynamic trajectory generation during program execution. The demonstration task consists of interactive drawing, where one robot holds the whiteboard while the second robot, fitted with a marker, performs the drawing. The developed application MultiMove Painter allows the user to define the trajectory by manual drawing, by selecting from predefined shapes, or by generating it using artificial intelligence. The programs were transferred from simulation to the real workplace and their functionality was verified.