Kinematički kontroler robota RM501

undergraduate thesis

• Title (english): Kinematic controller for RM501 robot
• Author: Matija Golec
• Mentor: Mladen Crneković (mentor)
• Granter: University of Zagreb; Faculty of Mechanical Engineering and Naval Architecture; Zagreb
• Defense date and country: 2019-09-26, Croatia
• Scientific / art field, discipline and subdiscipline: TECHNICAL SCIENCES; Mechanical Engineering

Abstract

Zadatak ovog završnog rada je projektirati kinematički kontroler pomoću kojeg će se ostvariti komunikacija između Mitsubishijevog robota RM-501 i računala pomoću USB kabla i Bluetootha. Također je potrebno ostvariti mogućnost pomicanja robota upisivanjem njegovih vanjskih koordinata. U uvodnom dijelu ovog rada predstavljen je te je ukratko opisan problem zbog kojeg je bilo potrebno izraditi kinematički kontroler te je dano idejno rješenje. U drugom dijelu rada opisan je robot i pojedine komponente od kojih se sastoji te su navedene njegove karakteristike. Treće poglavlje opisuje projektirani kinematički kontroler, opisuju se komponente od kojih je sastavljen, način njegovog projektiranja i postupak izrade. Četvrto poglavlje opisuje način programiranja, kod korišten u mikrokontroleru kinematičkog kontrolera te način pokretanja i komuniciranja s robotom.

Abstract (english)

The purpose of this final paper is to design a kinematic controller that will communicate between Mitsubishi's RM-501 robot and a computer using a USB cable and Bluetooth. It is also required to be able to move the robot by typing its external coordinates. The introductory part of this paper presents and briefly describes the problem that necessitated the creation of a kinematic controller and provided a preliminary solution. The second part of the paper describes the robot and its individual components and describes its characteristics. The third chapter describes the designed kinematic controller, describes the components of which it is composed, the method of designing it, and the manufacturing process. The fourth chapter describes the programming method, the code used in the kinematic controller microcontroller, and how to start and communicate with the robot.

• Keywords: industrijski robot; RM501; kinematički kontroler
• Keywords (english): industrial robot; RM501; kinematic controller
• Language: croatian
• URN:NBN: urn:nbn:hr:235:884586
• Study programme: Title: Mechanical Engineering; Study programme type: university; Study level: undergraduate; Academic / professional title: sveučilišni/a prvostupnik/ prvostupnica (baccalaureus/baccalaurea) inženjer/inženjerka strojarstva (sveučilišni/a prvostupnik/ prvostupnica (baccalaureus/baccalaurea) inženjer/inženjerka strojarstva)
• Type of resource: Text
• File origin: Born digital
• Access conditions: Open access
• Created on: 2019-09-19 09:58:39