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Razvoj krmilnika paralelne robotske platforme : magistrsko delo magistrskega študijskega programa II. stopnje StrojništvoJamšek, Marko, strojnikNamen 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.Type of material - master's thesis ; adult, seriousPublication and manufacture - Ljubljana : [M. Jamšek], 2017Language - slovenianCOBISS.SI-ID - 15627035
Author
Jamšek, Marko, strojnik
Other authors
Gregorčič, Peter, fizik |
Babič, Jan
Topics
magistrska dela |
krmilniki |
paralelni robotI |
inverzna kinematika |
CAN komunikacija |
direktna kinematika |
Simulink Real-Time |
Simulink Real-Time |
master thesis |
controllers |
parallel robots |
inverse kinematics |
direct kinematics |
CAN communication |
Simulink Real-Time |
Simulink Real-Time
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Library/institution |
City | Acronym | For loan | Other holdings |
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Faculty of Mechanical Engineering, Ljubljana | Ljubljana | FSLJ |
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JCR | SNIP | JCR | SNIP | JCR | SNIP | JCR | SNIP |
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Database name | Field | Year |
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Links to authors' personal bibliographies | Links to information on researchers in the SICRIS system |
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Jamšek, Marko, strojnik | 50499 |
Gregorčič, Peter, fizik | 29224 |
Babič, Jan | 20216 |
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