Jan 27, 2020   6:50 p.m. Bohuš
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prof. Ing. Milan Žalman, PhD.
Identification number: 4928
University e-mail: milan.zalman [at] stuba.sk
 
External colleague - Institute of Applied Informatics, Automation and Mechatronics (MTF)
External colleague - Faculty of Electrical Engineering and Information Technology (STU)

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Basic information

Basic information about a final thesis

Type of thesis: Diploma thesis
Thesis title:Design of robot control system with parallel kinematics structure
Written by (author): Ing. Matúš Kováčik
Department: Institute of Robotics and Cybernetics (FEEIT)
Thesis supervisor: prof. Ing. Milan Žalman, PhD.
Opponent:Ing. Igor Bélai, PhD.
Final thesis progress:Final thesis was successfully defended.


Additional information

Additional information about the final thesis follows. Click on the language link to display the information in the desired language.

Language of final thesis:Slovak

Slovak        English

Title of the thesis:Návrh riadiaceho systému robota s paralelnou kinematickou štruktúrou
Summary:V diplomovej práci sa zaoberám návrhom riadiaceho systému pre robot, ktorý využíva paralelnú kinematickú štruktúru Tricept. Jedná sa štruktúru umožňujúcu rýchle polohovanie pracovného nástroja s troma stupňami voľnosti. Hardvér riadiaceho systému je navrhnutý z prístrojov od firmy SEW-EURODRIVE a štandardného PC. Softvér na riadenie je Matlab- Simulink s komunikáciou cez OPC server. Na výpočet polohy pracovného bodu som využil metódu inverznej kinematickej úlohy. Navrhol som polohové servosystémy, ktoré som simuloval a overil na reálnom modeli. Riadiaci systém spolu s mechanickou časťou bol reálne postavený na SjF STU.
Key words:Tricept, paralelná kinematická štruktúra, riadiaci systém

Current level of public release
 
access to digital copies of seminar papers and theses via academic / university library for study, scientific, educational and information purposes only to university users (access check based on computer's IP address or on login and password).


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Parts of thesis with postponed release:

Final thesis (final thesis appendices) unlimited
Reviews for final thesis unlimited