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magistrska_timotej_gaspar.toc
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\select@language {slovene}
\contentsline {chapter}{\numberline {1}Uvod}{5}
\contentsline {chapter}{\numberline {2}Robotski manipulator PA-10}{7}
\contentsline {section}{\numberline {2.1}Kinemati\v cni model robota PA-10}{7}
\contentsline {section}{\numberline {2.2}Dinami\v cni model robota}{12}
\contentsline {section}{\numberline {2.3}Inverzna kinematika}{14}
\contentsline {chapter}{\numberline {3}ARCNET - UDP stre\v znik za komunikacijo s krmilnikom robota ter senzorjem sile}{17}
\contentsline {section}{\numberline {3.1}Krmilnik servo motorjev robota}{19}
\contentsline {section}{\numberline {3.2}ARCNET vmesnik}{20}
\contentsline {section}{\numberline {3.3}Senzor sile in navorov - JR3}{23}
\contentsline {section}{\numberline {3.4}Stre\v znik}{25}
\contentsline {subsection}{\numberline {3.4.1}Delovanje programa}{26}
\contentsline {subsection}{\numberline {3.4.2}Uporaba programa}{28}
\contentsline {subsection}{\numberline {3.4.3}Varnostni ukrepi}{31}
\contentsline {chapter}{\numberline {4}Vodenje robota PA-10}{33}
\contentsline {section}{\numberline {4.1}Kompenzacija mase prijemala ter merilnega odmika na senzorju sile JR3}{33}
\contentsline {section}{\numberline {4.2}Vodenje preko inverzne kinematike}{37}
\contentsline {subsection}{\numberline {4.2.1}Vodenje v notranjih koordinatah}{37}
\contentsline {subsection}{\numberline {4.2.2}Vodenje v zunanjih koordinatah}{38}
\contentsline {section}{\numberline {4.3}Vodenje z inverzno dinamiko}{39}
\contentsline {subsection}{\numberline {4.3.1}Vodenje v notranjih koordinatah}{40}
\contentsline {subsection}{\numberline {4.3.2}Vodenje v zunanjih koordinatah}{42}
\contentsline {section}{\numberline {4.4}Interakcija z okoljem}{43}
\contentsline {subsection}{\numberline {4.4.1}Admitan\v cno vodenje}{43}
\contentsline {subsection}{\numberline {4.4.2}Impedan\v cno vodenje}{45}
\contentsline {chapter}{\numberline {5}Implementacija}{47}
\contentsline {section}{\numberline {5.1}Hitrostno vodenje}{49}
\contentsline {subsection}{\numberline {5.1.1}Vodenje brez kontakta}{49}
\contentsline {subsection}{\numberline {5.1.2}Admitan\v cno vodenje}{52}
\contentsline {section}{\numberline {5.2}Navorno vodenje}{54}
\contentsline {subsection}{\numberline {5.2.1}Kompenzacija trenja}{55}
\contentsline {subsection}{\numberline {5.2.2}Vodenje brez kontakta}{57}
\contentsline {subsection}{\numberline {5.2.3}Impedan\v cno vodenje}{60}
\contentsline {section}{\numberline {5.3}Analiza rezultatov}{62}
\contentsline {chapter}{\numberline {6}Zaklju\v cek}{65}
\contentsline {chapter}{\numberline {A}Avtomatska identifikacija parametrov te\v ze prijemala}{73}
\contentsline {chapter}{\numberline {B}SIMULINK\textsuperscript {\textregistered }blok PA-10 CONTROL}{75}