Haptično vodenje učne robotske roke Lynxmotion AL5D

diplomsko delo

Abstract

V diplomskem delu je opisano haptično vodenje robotske roke. S haptično napravo preko vmesnika – računalnika vodimo robotsko roko tako, da sledi našim gibom in hkrati s senzorjem za razdaljo pošiljamo povratno informacijo, ki se nato pretvori v silo na uporabnika. S tem bi lažje upravljali z robotsko roko, saj bi prilagajanje robota za nove delovne naloge potekalo čim bolj gladko. Za delovanje smo izpeljali kinematični model po Denavit-Hartenbergovi metodi ter iz tega določili še inverzno kinematiko s pomočjo geometrijskega postopka.

Keywords

robotika;robotska roka;haptično vodenje;kinematika;Lynxmotion;AL5D;upravljanje robotske roke;diplomske naloge;

Data

Language:	Slovenian
Year of publishing:	2013
Typology:	2.11 - Undergraduate Thesis
Organization:	UM FERI - Faculty of Electrical Engineering and Computer Science
Publisher:	[G. Zrim]
UDC:	007.52:681.5(043.2)
COBISS:	17502998
Views:	1871
Downloads:	173
Average score:	0 (0 votes)
Metadata:

Other data

Secondary language:	English
Secondary title:	HAPTIC CONTROL OF EDUCATIONAL ROBOT ARM LYNXMOTION AL5D
Secondary abstract:	This tesis describes haptic control of a robotic arm. We conduct the robot arm with the haptic device via the interface – computer, in the way, that it follows our motion and at the same time with a distance sensor sending feedback, which is then converted to the force applied to the user. In this manner it could be easier to manage a robotic arm, because the robot is adapting to new tasks as smoothly as possible. For the functioning we carried out a kinematic model by Denavit – Hartenberg method and from this the inverse kinematics was set by using a geometric process.
Secondary keywords:	robotics;robotic arm;haptic control;kinematics;
URN:	URN:SI:UM:
Type (COBISS):	Bachelor thesis/paper
Thesis comment:	Univ. v Mariboru, Fak. za elektrotehniko, računalništvo in informatiko, Elektrotehnika
Pages:	XV, 73 str.
ID:	8727626