Realizace mini-robotického centra pomocí produktů firmy RHINO
Title Alternative:Realization of mini-robotic center from components of RHINO Robots
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Date
2011
Authors
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Journal ISSN
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Publisher
Technická Univerzita v Liberci
Abstract
Cílem diplomové práce bylo vytvořit aplikaci pro řízení robotů rhino a úlohy vhodné k výuce v Laboratoři inteligentních robotů. Nejprve bylo nutné nastudovat a seznámit se s možnostmi robotických systémů od firmy Rhino Robotics a možností jejich komunikace s počítačem pomocí sériového rozhraní RS-232C. Specificky jde o řídící systémy Mark III a Mark IV, roboty XR-4 a SCARA a jejich periferní zařízení. Mezi periferní zařízení patří rotační karusel, pásový dopravník, optický snímač a mikrospínač pro detekci objektu. Na základě těchto poznatků byla vytvořena aplikace pro snadné ovládání těchto systémů, která je schopná nahradit originální softwarové vybavení od firmy Rhino Robotics. Aplikace byla napsána ve vývojovém prostředí Borland C++ Builder. Součástí aplikace je i vlastní řešení výpočtu pozice a orientace nástroje robota XR-4 pomocí přímé úlohy kinematiky za použití Denavit-Hartenbergovi matice. Pomocí vytvořené aplikace, ale i ovládacích panelů řídících systémů, byla vytvo řena sada 5 úloh. Úlohy jsou koncipovány tak, aby se na jejich základě bylo možné naučit a uplatnit všechny základní možnosti a funkce robotů Rhino a jejich periférií. Všechny úlohy jsou podrobně zdokumentovány a zapsány i s postupy při jejich tvorbě v závěrečné práci.
The aim of the diploma thesis was to create an application for operation of Rhino robots and make excersises which could be suitable for using in Laboratory of inteligent robots. First of all it was necessary to work up and get to know with a possibilities of the robotic systems of RHINO Robotics company and with their communication posibility with computer thru serial port RS-232C. Specificly it is the controller Mark III and Mark IV, robots XR-4 and SCARA and their periferal equipment. Periferal equipements are rotary carusel, belt conveyoer, optical sensor and microswitcher for object detection. On the base of this knowledge it was created the application for easy operating this systems, which is able to displace original software from the RHINO Robotics. The application was written by using the development tool Borland C++ Builder. One part of the application is the calculation of the pozition and orientation of XR-4 robot?s tool. This is achieved by direct excersise of kinematics and Denavit-Hartenberg matrix. Combining created application and the teachpendants of control systems was created a package of 5. excersises. Excersises are concieved for complete familiarization with all functions of RHINO robots and their periferal equipments. All details about the excersises can be found in the documentation. The exercises are written down with the process of their creating.
The aim of the diploma thesis was to create an application for operation of Rhino robots and make excersises which could be suitable for using in Laboratory of inteligent robots. First of all it was necessary to work up and get to know with a possibilities of the robotic systems of RHINO Robotics company and with their communication posibility with computer thru serial port RS-232C. Specificly it is the controller Mark III and Mark IV, robots XR-4 and SCARA and their periferal equipment. Periferal equipements are rotary carusel, belt conveyoer, optical sensor and microswitcher for object detection. On the base of this knowledge it was created the application for easy operating this systems, which is able to displace original software from the RHINO Robotics. The application was written by using the development tool Borland C++ Builder. One part of the application is the calculation of the pozition and orientation of XR-4 robot?s tool. This is achieved by direct excersise of kinematics and Denavit-Hartenberg matrix. Combining created application and the teachpendants of control systems was created a package of 5. excersises. Excersises are concieved for complete familiarization with all functions of RHINO robots and their periferal equipments. All details about the excersises can be found in the documentation. The exercises are written down with the process of their creating.
Description
katedra: MTI; přílohy: 1 CD; rozsah: 74
Subject(s)
robotika, rhino robotics, c++ builder, rs-232c, přímá úloha kinematiky, robotics, rhino robotics, c++ builder, rs-232c, direct exercise of kinematics