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V delu je predstavljen namensko razvit strežnik, ki omogoča krmiljenje robota Mitsubishi PA-10 preko Ethernet omrežja s pošiljanjem UDP paketov. Strežnik deluje kot posrednik med UDP klientom ter ARCNET krmilnikom servo motorjev robota PA-10. Strežnik deluje v realnem času in s frekvenco cikla 500 Hz. Strežnik omogoča krmiljenje robota preko hitrostnega ali navornega internega regulatorja, kar daje uporabnikom možnost, da lahko implementirajo različne strategije vodenja. V delu je predstavljena uporaba različnih strategij vodenja robotov. V hitrostnem ter navornem načinu smo opravili poskuse vodenja v zunanjih ter notranjih koordinatah. Dodatno se je še ugotovilo možnosti vodenja robota v kontaktu z okolico. Poskusi so pokazali, da hitrostno vodenje preko strežnika deluje dobro, saj ni tako odvisno od dinamičnih parametrov robota. Navorno vodenje pa je zasnovano na osnovi dinamičnega modela. Ker smo pri realizaciji različnih načinov vodenja po navorih uporabili verjetno nenatančne parametre dinamičnega modela, rezultati v primeru uporabe navornega vodenja niso najboljši. Vodenje na višjem nivoju smo realizirali v okolju MATLAB SIMULINK. Razvili smo SIMULINK blok za povezovanje z razvitim strežnikom, kar daje bodočim uporabnikom možnost enostavnega implementiranja algoritmov vodenja. The thesis presents a server developed for the purpose of controlling the robot Mitsubishi PA-10 via Ethernet by sending UDP packets. The server acts as middleware between the UDP client and the ARCNET robot controller of the servomotors of the PA-10 robot. It works in real time with a sample frequency of 500Hz. It also allows to control the robot through the internal speed or torque regulator, which gives the users freedom to implement various control strategies. The thesis presents the use of various robot control strategies. Experiments with velocity and torque control modes have been made in joint and task space. Additional experiments also showed the possibility to control the robot in contact with the environment. The results of the experiments showed that the velocity control works better as it is not as dependent on the robot's dynamic parameters as the torque control mode which was implemented with the use of the dynamic model. But due to the probably imprecise dynamic model parameters used for the realization of the different torque mode controls the results of these are not as satisfactory. Higher level control was developed in MATLAB SIMULINK programme. We developed a SIMULINK block for communication with the developed server which gives future users easier ways to implement control algorithms. |
