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SCARA robot homing
 Marčonek, Michal ; Burian, František (referee) ; Benešl, Tomáš (advisor)
This thesis deals with the design process of a new home procedure system for the SCARA manipulator from Seiko Epson. At the outset, it was first considered whether to use the original homing system. The principle of the original home procedure was identified, then attempts were made to make it work, but with negative results. For this reason, it was proceeded to create a new homing procedure system. In the theoretical part, the possible homing methods and their properties are explained. The new solution includes the design of new first and second axis sensors, which are solved by STGC absolute sensors. The other two axes are solved by end sensors. It was necessary to modify the cabling and add an input card to the control system. Finally, a Homing function block is implemented to ensure the detection of the manipulator pose after startup.
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