Izgradnja krmilnika za robotski manipulator "Roki"

diplomsko delo

Andraž Rotovnik (Author), Karl Gotlih (Mentor), Suzana Uran (Mentor), Božidar Bratina (Co-mentor)

Abstract

Cilj diplomske naloge je bil izgradnja krmilnika za robotski manipulator, ki bo sposoben izvajati regulacijo osi robota. Krmilnik deluje na mikrokrmilni platformi Arduino Mega 2560 in je v celoti prilagojen za delovanje z robotom. Sposoben je sprejemati signale iz merilnika pozicije, jim odpraviti motnje in jih ustrezno implementirati za uporabo v mikrokrmilniku. Izhodna enota krmilnika je sposobna generirati pravilne vrednosti, ki so kompatibilne za ustrezno uporabo gonilnika motorja. Z osnovnim zapisom programske kode sem dokazal, da je regulacija osi možna s preprostim mikrokrmilnikom Arduino.

Keywords

robotski krmilnik;Arduino;robotski manipulator;

Data

Language:	Slovenian
Year of publishing:	2018
Typology:	2.11 - Undergraduate Thesis
Organization:	UM FS - Faculty of Mechanical Engineering
Publisher:	[A. Rotovnik]
UDC:	681.5:007.52(043.2)
COBISS:	22227990
Views:	1071
Downloads:	164
Average score:	0 (0 votes)
Metadata:

Other data

Secondary language:	English
Secondary title:	Controller robot hand build
Secondary abstract:	The objective of my degree paper was to build a controller, which would be able to control and regulate movement of robots axis. Microcontroller Arduino Mega 2560 platform is the base of the controller, which is totally adjusted for work with robot. Controller is able to receive signals from incremental encoders, able to remove disturbances and producing the correct signals which the microcontroller can read. Output unit of controller is capable of generating signals which are complementary with the motor drivers. With a program code it is able to correct the control of robots axis, which is proof that we can make a controller with simple Arduino Mega board.
Secondary keywords:	robot controller;Arduino;robotic manipulator;
URN:	URN:SI:UM:
Type (COBISS):	Bachelor thesis/paper
Thesis comment:	Univ. v Mariboru, Fak. za elektrotehniko, računalništvo in informatiko, Mehatronika
Pages:	IX, 67 str., [6] str. pril.
ID:	10950330