Integracija laparoskopskih klešč na robotski sistem UR5

diplomsko delo

Rok Pahič (Author), Karl Gotlih (Mentor), Aleš Hace (Mentor)

Abstract

V diplomskem delu je predstavljena integracija laparoskopskega orodja z že vgrajenimi aktuatorji, na robota UR5. Za vmesnik med obema elementoma je uporabljena mikrokrmilniška razvojna plošča EK-TM4C1294XL, katere naloga je vodenje orodja glede na zahteve prejete z robota. Mikrokrmilnik vodi štiri servomotorje preko pulzno širinsko moduliranega signala, sprejema pa podatke iz robota preko ethernet povezave. Z robota mikrokrmilnik sprejema zahtevane vrednosti položaja posamezne osi in mu nazaj sporoča trenutni položaj osi. Robot lahko osi vodi neposredno s poslanim zahtevanim položajem ali pa pošlje ukaz v katero stran naj se premika os in kdaj naj se ustavi. Sprejete podatke mikrokrmilnik preko kinematike prijemala preračuna v zasuke osi motorja. Poslane vrednosti do servomotorje omejuje s hitrostnim vodenjem.

Keywords

mehatronika;robotski sistemi;robot UR5;mikrokrmilniška razvojna plošča;laparoskopsko orodje;EK-TM4C1294XL;CAD;TCP/IP standard;PWM signal;kinamatika;diplomske naloge;

Data

Language:	Slovenian
Year of publishing:	2016
Typology:	2.11 - Undergraduate Thesis
Organization:	UM FS - Faculty of Mechanical Engineering
Publisher:	[R. Pahič]
UDC:	004.896:007.52(043.2)
COBISS:	20384534
Views:	942
Downloads:	73
Average score:	0 (0 votes)
Metadata:

Other data

Secondary language:	English
Secondary title:	Integration of laparoscopic forceps on robotic system UR5
Secondary abstract:	The thesis presents the integration of laparoscopic tools with integrated actuators on the robot UR5. For the interface between these two elements is used microcontroller development board EK-TM4C1294XL is used. Its task it to guide the tool according to the instructions received from the robot. Microcontroller leads four servomotors via pulse width modulated signal, however it accepts the data from the robot via the Ethernet link. The microcontroller receives the required position values of each axis from the robot and it sends the current position of the axis back to the robot. The robot axes can be lead directly by sending the required position or by sending a command to which side the axis should move and when to stop. Received data are converted into rotations of the motor axis via kinematics of the gripper by the microcontroller. The values sent to servomotors are restricted by the speed depending control.
Secondary keywords:	laparoscopic tool;robotics;robot UR5;TI RTOS;microcontrollers;
URN:	URN:SI:UM:
Type (COBISS):	Bachelor thesis/paper
Thesis comment:	Univ. v Mariboru, Fak. za strojništvo, Mehatronika
Pages:	XII, 66 f.
ID:	9174651