Thesis Details
Vestavěné zařízení pro řízení robotické ruky
This diploma thesis deals with a design and implementation of an embedded device (module), used to control a robotic manipulator. The module instructs servomotors of the manipulator to move according to the commands received via USB interface. The module consists of two double-sided printed circuit boards. The first one allows connection to the CAN bus, redundant and thus reliable power supply for servomotors as well as the whole module. The second board, compute oriented one, embeds powerful microcontroller used to communicate with the servomotors and to solve the kinematics tasks. As a part of the thesis a graphical user interface as well as a web-oriented interface were developed. Both interfaces allow full control of the manipulator. All the communicating buses, tools and methods used during the design and implementation phases of the work are described in the thesis. Finally, measurements proved improvement of the motion smoothness and response times in several orders of magnitude in comparison to the previous system.
embedded system, STM32, ARM, robotic manipulator, PCB layout, power multiplexing, inverse kinematics
Bidlo Michal, doc. Ing., Ph.D. (DCSY FIT BUT), člen
Češka Milan, doc. RNDr., Ph.D. (DITS FIT BUT), člen
Jaroš Jiří, doc. Ing., Ph.D. (DCSY FIT BUT), člen
Kekely Lukáš, Ing., Ph.D. (DCSY FIT BUT), člen
Martínek Tomáš, doc. Ing., Ph.D. (DCSY FIT BUT), člen
@mastersthesis{FITMT23088,
author = "Ji\v{r}\'{i} Kyzlink",
type = "Master's thesis",
title = "Vestav\v{e}n\'{e} za\v{r}\'{i}zen\'{i} pro \v{r}\'{i}zen\'{i} robotick\'{e} ruky",
school = "Brno University of Technology, Faculty of Information Technology",
year = 2020,
location = "Brno, CZ",
language = "czech",
url = "https://www.fit.vut.cz/study/thesis/23088/"
}