Original title: Konstrukce a řízení inverzní kinematiky robotu SCARA
Translated title: Design and inverse kinematics control of the SCARA robot
Authors: Sárkány, Zoltán ; Tůma, Jiří (referee) ; Štěpánek, Vojtěch (advisor)
Document type: Master’s theses
Year: 2023
Language: cze
Publisher: Vysoké učení technické v Brně. Fakulta strojního inženýrství
Abstract: [cze] [eng]
Diplomová práca sa úvodnej časti zaoberá obecným popisom danej problematiky. V prvej časti praktického riešenia je práca venovaná popisu postupu tvorby, a následne spracovaniu detailného konštrukčného návrhu konceptu robota s kinematikou SCARA vrátane základných konštrukčných výpočtov. V ďalšej časti sa zaoberá tvorbou modelu v NX Mechatronics Concept Designer a tvorbou programu pre PLC riadenie a HMI pomocou softwaru TwinCAT. The master’s thesis focuses in its introductory section on a general description of the given topic. The first part of the practical solution focuses on the process of creating a detailed model of a SCARA robot, including basic structural calculations. The next section deals with the creation of a model in NX Mechatronics Concept Designer and the development of the PLC control program and HMI using TwinCAT software.
Keywords: Beckhoff; Kinematic transformation; PLC; Robot; SCARA; Serial manipulator; TwinCAT; Beckhoff; Kinematická transformácia; PLC; Robot; SCARA; Sériový manipulátor; TwinCAT

Institution: Brno University of Technology (web)
Document availability information: Fulltext is available in the Brno University of Technology Digital Library.
Original record: http://hdl.handle.net/11012/212343

Permalink: http://www.nusl.cz/ntk/nusl-530592


The record appears in these collections:
Universities and colleges > Public universities > Brno University of Technology
Academic theses (ETDs) > Master’s theses