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Namen 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. The purpose of the thesis is the development of a controller for a parallel robotic platform using Simulink Real-Time. We derived and implemented mathematical models for the inverse and direct kinematics of the parallel robot which were than saved as program libraries. Along with the development of a CAN communication subprogram this enabled us to make a position controller for the robot in its external coordinates. With the adequate implementation of controller register mapping we achieved a frequency of 500 Hz for communication over the CAN bus. Using an external measuring system, we confirmed high precision and accuracy for the end effector pose calculations. |
