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Razvoj krmilnika paralelne robotske platforme
ID
Jamšek, Marko
(
Author
),
ID
Gregorčič, Peter
(
Mentor
)
More about this mentor...
,
ID
Babič, Jan
(
Comentor
)
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MD5: 83053F8701824682C563F99D393F382D
PID:
20.500.12556/rul/85e2e419-c80e-4e7e-a3de-6deb52a2f1ff
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Abstract
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.
Language:
Slovenian
Keywords:
krmilnik paralelni robot inverzna kinematika direktna kinematika CAN komunikacija Simulink Real-Time
Work type:
Master's thesis/paper
Organization:
FS - Faculty of Mechanical Engineering
Year:
2017
PID:
20.500.12556/RUL-94433
Publication date in RUL:
25.08.2017
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2848
Downloads:
732
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JAMŠEK, Marko, 2017,
Razvoj krmilnika paralelne robotske platforme
[online]. Master’s thesis. [Accessed 10 July 2025]. Retrieved from: https://repozitorij.uni-lj.si/IzpisGradiva.php?lang=eng&id=94433
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Language:
English
Title:
Development of controller for parallel robotic platform
Abstract:
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.
Keywords:
controller parallel robot inverse kinematics direct kinematics CAN communication Simulink Real-Time
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