Application and capabilities of a high-repeatability collaborative robot

U ovom je radu opisana i demonstrirana mogućnost primjene robota kolaborativne prirode proizvođača FANUC. Kolaborativni roboti omogućili su izravnu interakciju čovjeka i robota koja je nužna za izvođenje određenih procesa, poput sklapanja proizvoda. U obavljanju takvih procesa roboti su opremljeni raznim senzorima od kojih se ističe senzor sile montiran na vrhu prirubnice robota. Neke od primjena korištenog senzora sile FS-15iA objašnjene su u ovom radu za izvođenje određenih demonstrativnih procesa. Za potrebe izvođenja tih procesa izrađeni su jednostavni predmeti rada i postav koji objedinjuje sve procese. Velik dio korištenih elemenata modeliran je u CAD softverskom paketu, a zatim 3D printan. Prikazani procesi programirani su u programskom paketu ROBOGUIDE. Jedan dio procesa odnosi se na prikaz funkcija kontrole sile (eng. force control) čiji je program pisan pomoću programske podrške na privjesku za učenje (eng. teach pendant). Drugi dio procesa odnosi se na vođenje robota pomoću 3D printane ručke te bilježenje ključnih točaka robotskog programa za izvođenje jednostavnog „uzmi i stavi“ programa (eng. pick and place). Taj se proces ostvaruje pomoću koda napisanog u programskom jeziku KAREL.This bachelor thesis describes and demonstrates the possibility of using a collaborative robot made by the Japanese company FANUC. Collaborative robots have allowed direct human-robot interaction which is necessary in order to perform certain processes, such as product assembly. For performing such processes, robots are equipped with different kinds of sensors of which the force sensor, mounted on the top of the robot's flange, stands out. Particular applications of the used FS-15iA force sensor are explained through performing certain demonstrative processes. Simple work objects and a layout have been made in order to carry out these processes. Most of the used elements have been designed in a CAD software package and then 3D printed. Previously mentioned processes have been programmed in the ROBOGUIDE software package. One part of the process refers to displaying different force control functions which have been utilized in a program that has been written on the teach pendant program support. The other part of the process refers to guiding the robot using a 3D printed handle in order to record the key positions for the execution of a simple pick and place program. This process is realized using a code that has been written in the KAREL programming language