20.500.12556/RUL-139911 Vodenje namiznega robota GLUON v okolju ROS ROS-based control of GLUON desktop robot V diplomski nalogi smo razvili preprosto aplikacijo poberi in odloži z namiznim robotom GLUON. Zasnovali smo preprosto paralelno dvoprstno prijemalo in ga natisnili s 3D tiskalnikom. Za aktuator prijemala smo uporabili elektromotor N20 s kodirnikom in reduktorjem, za njegovo vodenje pa razvojno ploščo STM32 Nucleo L476RG. Za krmiljenje aktuatorja prijemala smo jo nadgradili z obstoječo razširitveno ploščo X-NUCLEO-IHM04A1. Izdelali smo lastno razširitveno ploščo, namenjeno napajanju Nuclea preko omrežja robota in povezavi v komunikacijsko CAN omrežje le-tega. Sestavljeno prijemalo smo kot samostojno enoto integrirali na robota GLUON. CPE Nuclea smo nastavili tako, da je omogočala CAN komunikacijo. Osnovali smo način komunikacije preko CAN omrežja s CANopen protokolom in ustvarili namenska sporočila za vodenje prijemala. Zasnovali in implementirali smo PD regulator za pozicijsko vodenje prstov prijemala. Napisali smo Python knjižnico, ki preko UDP povezave omogoča vodenje prijemala iz zunanjega računalnika. Postavili smo ROS okolje za premikanje robota in ga, s pomočjo generatorja trajektorij Pilz Industrial Motion Planner ter demonstracijskih datotek proizvajalca, naučili premikov. S pomočjo omenjenega generatorja trajektorij smo ustvarili Python knjižnico za premikanje robota in v njej implementirali sistem za učenje točk s pomočjo prehajanja med stanjem izklopljenih aktuatorjev in pozicijskim vodenjem robota. Postavili smo okolje aplikacije in s sistemom za učenje točk robota naučili, kako izvesti aplikacijo ter jo izvedli. The thesis addresses the development of the pick and place application with the GLUON desktop robot. We designed a simple parallel two-wrist gripper and printed it with a 3D printer. We used an N20 electric motor with encoder and reducer for the gripper actuator, and for its control, we used an STM32 Nucleo L476RG development board. We upgraded the gripper actuator with an existing X-NUCLEO-IHM04A1 expansion board to control the gripper actuator. We built our own expansion board designed to power the Nucleo over the robot's network and connect it to its CAN communication network. We integrated the assembled gripper as a stand-alone unit on the GLUON robot. We configured the Nucleo's CPU to allow CAN communication. We based the CAN communication mode on the CANopen protocol and created dedicated messages to control the gripper. We designed and implemented a PD controller for positional control of the gripper fingers. We wrote a Python library that allows us to control the gripper from an external computer via a UDP connection. We set up a ROS environment to move the robot and taught its movements using the Pilz Industrial Motion Planner trajectory generator and demonstration files from the manufacturer. We created a Python library for robot motion using this trajectory generator. We implemented a system for teaching points by switching between the off-actuator state and the positional control of the robot. We set up the application environment, used the point teaching system to teach the robot how to execute the application, and executed it. ROS okolje robot GLUON CAN protokol dvoprstno prijemalo poberi in odloži ROS enviroment robot GLUON CAN protocol two-fingered gripper pick and place true false false Slovenski jezik Angleški jezik Diplomsko delo/naloga 2022-09-08 11:10:00 2022-09-08 11:10:06 2022-09-16 04:12:33 0000-00-00 00:00:00 2022 0 0 0000-00-00 NiDoloceno NiDoloceno NiDoloceno 0000-00-00 0000-00-00 0000-00-00 1970-01-01 58623 120669955 Balantic_Anze_-_Vodenje_namiznega_robota_GLUON_v_okolju_ROS.pdf Balantic_Anze_-_Vodenje_namiznega_robota_GLUON_v_okolju_ROS.pdf 1 3E59372F8B7913DDC05AC04D71B87A74 4ebcb5bc7eb7ff4f66b59add5ab223944c9c114192b6ae833c3fe437d895151f fba88930-2f55-11ed-92af-00155dcfd717 https://repozitorij.uni-lj.si/Dokument.php?lang=slv&id=160555 Fakulteta za elektrotehniko 0 0 0