Upravljanje laganom robotskom rukom pomoću PC računala

Trslić, Petar (2015) Upravljanje laganom robotskom rukom pomoću PC računala. = PC-based control of a lightweight robot arm. Master's thesis (Bologna) , Sveučilište u Zagrebu, Fakultet strojarstva i brodogradnje, UNSPECIFIED. Mentor: Jerbić, Bojan.

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Trslić_2015_diplomski.pdf - Published Version Jezik dokumenta:Croatian

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Abstract (Croatian)

U radu je nakon uvodnog poglavlja opisan tehnički sustav gdje je obrađen pojam laganog robota, prikazane su sve karakteristike robotske ruke KUKA LWR4+ pomoću koje je izveden ovaj diplomski rad, te je objašnjen UDP protokol i FRI programsko sučelje koje se temelji na njemu. Razvijen je kinematički model robota, određeni su DH parametri robotskog sustava te na temelju njih je izvedena direktna i inverzna kinematika robota. Razvijena je programska podrška i korisničko sučelje pomoću raspoložive C++ knjižnice kao bi se moglo vršiti izdavanje naredbi gibanja robota u kartezijskom koordinatnom sustavu te upravljanje po pojedinim zglobovima.

Abstract

The system, which is used in a research is described in this paper. The Light-weight robot term is explained and a technical characteristic of the KUKA LWR4+ robot are shown. Fast Research Interface (FRI) which is based on UDP protocol is explained. DH parameters of the KUKA LWR4+ robot have been specified in order to robot kinematics, direct and inverse, can be implemented. The software with the user interface is developed so the robot motion can be controlled in Cartesian or joint frame space.

Item Type: Thesis (Master's thesis (Bologna))
Uncontrolled Keywords: Direktna kinematika; Inverzna kinematika; DH parametri; KUKA LWR 4+
Keywords (Croatian): Direct kinematics; Inverse kinematics; DH parameters; KUKA LWR 4+
Subjects: TECHNICAL SCIENCE > Mechanical Engineering
Divisions: 900 Department of Robotics and Production System Automation > 920 Chair of Manufacturing and Assembly System Planning
Date Deposited: 09 Jul 2015 10:11
Last Modified: 16 Oct 2015 12:42
URI: http://repozitorij.fsb.hr/id/eprint/4559

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