The master thesis deals with the development and implementation of a control system for a custom robot, focusing on the integration of the mechanical part with an advanced software environment. The main objective of the thesis is to design a system for precise and reliable robot control and communication between a programmable logic controller and the Robot Operating System.
In the introduction, the topic and the idea of a solution combining an industrial approach with the use of modern open source technologies are presented, followed by a description of the mechanical design of the robot manipulator, the development of the kinematic model and the analysis of the workspace. At the theoretical level, the kinematics calculation procedures and the robot control method are given. The experimental part includes the development of a control system using a driver board, a controller and a corresponding software structure. The control algorithms have been developed in the ROS2 environment using a positional guidance node and trajectory planner. The interface between the PLC and ROS2 was realized using a dedicated library, while the controller logic was developed in the TwinCAT environment. The final part includes measuring and analysis of the accuracy and precision of the system. The measurements, carried out with the appropriate measurement equipment and defined procedure, show a high degree of precision and a satisfactory accuracy of the manipulator tip position. The results confirm that the system meets the objectives and represents a successful integration of mechanical components with a modern software environment for use in a future project.
|
