Integrace nestandardní kinematiky robotu do prostředí Automation Studio
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Date
2025-06-11
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Abstract
Tato bakalářská práce se zabývá integrací nestandardní kinematiky robotického manipulátoru do prostředí Automation Studio. Práce se zaměřuje na odvození přímé, inverzní a diferenciální kinematiky pro dvouosý robotický manipulátor. Odvozené transformační vztahy jsou imple-mentovány do knihovny Custom Mechanical System, která je součástí mappMotion. Následně je provedena parametrizace komponenty Custom Mechanical System a integrace vyvinutého řešení do stávajícího softwaru robotického manipulátoru. Výsledná implementace je ověřena testováním funkčnosti systému.
This bachelor's thesis focuses on the integration of non-standard kinematics of a robotic ma-nipulator into the Automation Studio environment. The thesis focuses on deriving forward, inverse, and differential kinematics for a two-degree-of-freedom robotic manipulator. The derived transformation relationships are implemented into the Custom Mechanical System library, which is part of mappMotion. Subsequently, the Custom Mechanical System compo-nent is parameterized, and the developed solution is integrated into the existing robotic ma-nipulator software. The final implementation is verified through system functionality testing.
This bachelor's thesis focuses on the integration of non-standard kinematics of a robotic ma-nipulator into the Automation Studio environment. The thesis focuses on deriving forward, inverse, and differential kinematics for a two-degree-of-freedom robotic manipulator. The derived transformation relationships are implemented into the Custom Mechanical System library, which is part of mappMotion. Subsequently, the Custom Mechanical System compo-nent is parameterized, and the developed solution is integrated into the existing robotic ma-nipulator software. The final implementation is verified through system functionality testing.
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Automation Studio, mappMotion, Custom Mechanical System