Razvoj krmilnika paralelne robotske platforme

Jamšek, Marko (author), Gregorčič, Peter (mentor), Babič, Jan (comentor)

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

Secondary language

• 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