The article presents a method of programming robots using virtual reality and digital twins. The virtual environment is a digital twin of a robotic station, built based on CAD models of existing station elements. The virtual reality system is used to record human movements in a virtual environment, which are then reproduced by a real robot. The method developed is dedicated mainly to such situations in which it is necessary for the robot to reproduce the movements of a human performing a process that is complicated from the point of view of robotization. An example of using the method for programming a robot implementing the process of cleaning ceramic casting moulds is presented.

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The article presents an application of the neural hybrid position/force control of the robotic manipulator. Realisation of many machining processes requires an application of the hybrid position/force control in order to perform the desired robot trajectory, which results from the machined surface geometry, and the desired tool downforce. The application of the robotic manipulator for realisation of the machining process enables to elimination of human handwork and ensures greater accuracy and repeatability of products. In the article is presented mainly the application of the hybrid position/force control system, in which a multilayer neural network is applied in order to manipulator nonlinearities compensation.

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