The thesis describes numerically controlled two degree manipulator with kinematic transformation. The machine is designed for cutting stone plates in a stone cutting workshop. CNC technology enables precise and automated cutting, which speeds up the process of manufacturing. The machine description, objectives and requirements are given in the introduction.
A mechanical and electrical specification of the machine is shown in the second chapter. The setup consist from a two degree manipulator and a chainsaw. Electrical design of the device is split on a control part, power part and communications. Also the kinematic transformation calculation is given here.
The third chapter is covering software packages. For development of programme in control computer, for graphical user interface and for the application allowing simulation were used different development environments. The CAD/CAM software was used for mechanical design and later for preparations of programs for CNC cutting.
The fourth chapter describes the phase of hardware installation and commissioning of devices. All device management is done via communication fieldbus.
The machine and graphical user interface programming is presented in the fifth chapter. Programming procedures and function blocks that enables machine operation are described. NC programming is explained also on example with smoothing of segment transitions.
The sixth chapter presents an application for simulating machine operation. The application plots a two-dimensional trajectory of manipulator and also moves three-dimensional model of the workpiece, and manipulator accordingly to NC interpreter code. The application was also used to verify the PLC built-in kinematic transformation algorithm.
The final chapter shows the thesis results. Given are plots of cuts in application for machine simulation, images of cuts on real machine and example while using smoothing of segment transitions. Additionally, numerical method Newton - Rahson shows the same results as the built-in inverse kinematic transformation.