Main aim of this master’s thesis is to identify, model and control robotic manipulator with three degrees of freedom. The thesis is a part of major project [17], the aim of which is to create an educational platform. In the thesis the simple PID control and the PID with feedforward compensation control is tested on the model of simple pendulum. In the next part models of DC motors, which are used for construction of the manipulator, are developed and the inverse dynamics model of manipulator is developed. This model is used for feedforward control of the manipulator. In the final part the application was developed, which allows the manipulator to be taught some movements, which can be later on, executed. For the simple control of the application the graphical user interface was programmed.
| Identifer | oai:union.ndltd.org:nusl.cz/oai:invenio.nusl.cz:230936 |
| Date | January 2013 |
| Creators | Šuranský, Michal |
| Contributors | Krejčí, Petr, Grepl, Robert |
| 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 |
Page generated in 0.0015 seconds