20.500.12556/RUL-94433 Razvoj krmilnika paralelne robotske platforme Development of controller for parallel robotic platform Namen dela je razvoj krmilnika za paralelno robotsko platformo v programskem okolju Simulink Real-Time za uporabljen več-nivojski krmilni sistem. Izdelali in implementirali smo kinematične modele za inverzno in direktno kinematiko uporabljenega paralelnega robota, ki smo jih shranili v obliki programskih knjižnic. To je skupaj z razvojem podprograma za komunikacijo preko CAN vodila omogočilo izdelavo pozicijskega krmilnika robota po zunanjih koordinatah. Z ustrezno nastavitvijo registrov na krmilnikih je bila dosežena frekvenca 500 Hz za komunikacijo preko CAN vodila. Z uporabo zunanjega merilnega sistema smo potrdili visoko natančnost in točnost izračunov položaja vrha robota. The purpose of the thesis is the development of a controller for a parallel robotic platform using Simulink Real-Time. We derived and implemented mathematical models for the inverse and direct kinematics of the parallel robot which were than saved as program libraries. Along with the development of a CAN communication subprogram this enabled us to make a position controller for the robot in its external coordinates. With the adequate implementation of controller register mapping we achieved a frequency of 500 Hz for communication over the CAN bus. Using an external measuring system, we confirmed high precision and accuracy for the end effector pose calculations. krmilnik paralelni robot inverzna kinematika direktna kinematika CAN komunikacija Simulink Real-Time controller parallel robot inverse kinematics direct kinematics CAN communication Simulink Real-Time true false false Slovenski jezik Angleški jezik Magistrsko delo/naloga 2017-08-25 07:15:47 2017-08-25 07:15:48 2022-08-10 01:41:15 0000-00-00 00:00:00 2017 0 0 0000-00-00 NiDoloceno NiDoloceno NiDoloceno 0000-00-00 0000-00-00 0000-00-00 1970-01-01 194557 623.pdf 623.pdf 1 83053F8701824682C563F99D393F382D f4170837fd545723c7174625662bc10dd7e6db1a67a520d00cbc52040df57017 855e8886-a1b3-11eb-a523-00155dcfd717 20.500.12556/rul/85e2e419-c80e-4e7e-a3de-6deb52a2f1ff https://repozitorij.uni-lj.si/Dokument.php?lang=slv&id=102651 Fakulteta za strojništvo 0 0 0