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Collaborative robot UR5e interface library for Matlab/Simulink
Sladký, Adam ; Adámek, Roman (referee) ; Brablc, Martin (advisor)
This thesis describes the process of creating a function library which will enable easy control of a UR5e robot and its model using the Matlab environment. It was made using object based programming. Library functions were designed for two separate modes, each controlling either the robot or the model. Functions for RG2 gripper control and for collision detection, which prevents the robot from colliding with itself, are also part of the library. The resulting library is designed in a way that allows the robot to be easily used for measuring, project work or as a teaching tool by simply adding its functions to already existing data processing scripts or those performing other calculations. Finally, three example tasks are presented to demonstrate the application of this library.
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Analysis of kinematics of a ball screw mechanism
Sladký, Adam ; Marek, Jiří (referee) ; Hermanský, Dominik (advisor)
This thesis describes the process of creating a mathematical model of the kinematics of a ball screw, based upon which a computational model was made, along with an intractive Matlab user interface that serves to provide fast analysis of some of the most important parameters of the mechanism. Functionality of the presented model was verified using specific ball screw parameters. The output of this analysis was presented, analysed, and results describing the influence of operating conditions on the mechanism were derived from it. These results are one of the outputs of this thesis. Both the mathematical and computational models can serve as a tool for ball screw designers and manufacturers, and not only in their current state. They can also provide a starting point for anyone that requires a kinematic analysis for a specific configuration or problem.
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Collaborative robot UR5e interface library for Matlab/Simulink
Sladký, Adam ; Adámek, Roman (referee) ; Brablc, Martin (advisor)
This thesis describes the process of creating a function library which will enable easy control of a UR5e robot and its model using the Matlab environment. It was made using object based programming. Library functions were designed for two separate modes, each controlling either the robot or the model. Functions for RG2 gripper control and for collision detection, which prevents the robot from colliding with itself, are also part of the library. The resulting library is designed in a way that allows the robot to be easily used for measuring, project work or as a teaching tool by simply adding its functions to already existing data processing scripts or those performing other calculations. Finally, three example tasks are presented to demonstrate the application of this library.
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