This diploma thesis deals with automatization technology by B&R Automation Company. CANopen protocol is used for communication and control design of actuator part of omni-directional mobile robot. The control algorithms are implemented for compact PLC automata X20 series. The PLC X20 communicates with PC by means of Ethernet TCP/IP protocol. There are four motion control patterns implemented. The robot uses three IclA D065 actuators. This research has been supported by the Czech Ministry of Education in the frame of MSM 0021630529 Research Intention Inteligent Systems in Automation.
| Identifer | oai:union.ndltd.org:nusl.cz/oai:invenio.nusl.cz:228429 |
| Date | January 2009 |
| Creators | Škranc, Martin |
| Contributors | Čejka, Luboš, Matoušek, Radomil |
| Publisher | Vysoké učení technické v Brně. Fakulta strojního inženýrství |
| Source Sets | Czech ETDs |
| Language | Czech |
| Detected Language | English |
| Type | info:eu-repo/semantics/masterThesis |
| Rights | info:eu-repo/semantics/restrictedAccess |
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