20.500.12556/RUL-169465 Vodenje robotskega manipulatorja z jermenskimi pogoni Control of a belt-driven robot manipulator Magistrska naloga obravnava razvoj in implementacijo sistema za vodenje namensko zasnovanega robotskega manipulatorja, s poudarkom na povezovanju mehanskega dela z naprednim programskim okoljem. Glavni cilj naloge je oblikovanje sistema natančnega in zanesljivega vodenja robota ter komunikacije med programirljivim logičnim krmilnikom in robotskim operacijskim sistemom. V uvodnem delu je predstavljena tematika ter ideja rešitve, ki združuje industrijski pristop z uporabo sodobnih odprtokodnih tehnologij. Sledi opis mehanske zasnove robotskega manipulatorja, razvoj kinematičnega modela ter analiza delovnega prostora. Na teoretični ravni so podani postopki izračuna kinematike in način vodenja robota. Eksperimentalni del vključuje razvoj sistema za vodenje s pomočjo gonilne plošče, krmilnika in ustrezne programske strukture. Algoritmi za vodenje so bili razviti v okolju ROS2 z uporabo vozlišča za pozicijsko vodenje in pošiljanje trajektorij. Povezava med krmilnikom in ROS2 je bila realizirana z uporabo namenske knjižnice, medtem ko je bila logika krmilnika razvita v okolju TwinCAT. Zaključni del naloge vključuje meritve in analizo točnosti ter natančnosti sistema. Meritve, izvedene z ustrezno merilno opremo in definiranim postopkom, kažejo na visoko stopnjo natančnosti in zadovoljivo točnost lege vrha manipulatorja. Rezultati potrjujejo, da sistem izpolnjuje zastavljene cilje ter predstavlja uspešno integracijo mehanskih komponent s sodobnim programskim okoljem za uporabo pri nadaljnem projektu. 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. robot vodenje sistem zobatih jermenov ROS krmilnik robot control toothed belt system ROS PLC true false false Slovenski jezik Angleški jezik Magistrsko delo/naloga 2025-05-29 11:05:08 2025-05-29 11:05:34 2025-05-30 13:19:42 0000-00-00 00:00:00 2025 0 0 0000-00-00 NiDoloceno NiDoloceno NiDoloceno 0000-00-00 0000-00-00 0000-00-00 63023 237803011 Zura_Matic_-_Vodenje_robotskega_manipulatorja_z_jermenskimi_pogoni.pdf Zura_Matic_-_Vodenje_robotskega_manipulatorja_z_jermenskimi_pogoni.pdf 1 AF72B6C525D08347F9E00B45B5A439D0 85fc0a60fcf64f34861f4f659d494f5f6b3455439f696c6de149102b64177ae8 c8ad33b0-3c6a-11f0-b232-0050569b8976 https://repozitorij.uni-lj.si/Dokument.php?lang=slv&id=210855 Fakulteta za elektrotehniko 0 0 0