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Adaptivní plánování trajektorie průmyslového robotu / Adaptive Planning of Industrial Robot Trajectory

This thesis deals with the extension of the RoScan scanning system features, making its behaviour more secure and adaptivte during scanning of the object on its whole trajectory. This work contains mathematical model of said manipulator, suggested methods to ensure proper behaviour during singularities. New features were added to the RoScan system such as control panel for manipulator control including new format of trajectory log, moving closer or further away from manipulator’s end effector and non adaptive trajectory testing for singularities. Result of this work is ready-to-use.

Identiferoai:union.ndltd.org:nusl.cz/oai:invenio.nusl.cz:400667
Date January 2019
CreatorsDizorzi, Matúš
ContributorsBurian, František, Chromý, Adam
PublisherVysoké učení technické v Brně. Fakulta elektrotechniky a komunikačních technologií
Source SetsCzech ETDs
LanguageSlovak
Detected LanguageEnglish
Typeinfo:eu-repo/semantics/masterThesis
Rightsinfo:eu-repo/semantics/restrictedAccess

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