Digitální dvojče malého smykového nakladače

Abstract

The thesis deals with the design of a digital twin of a small skid steer loader, including a graphical user interface for manual control and triggering of five designed automatic functions. The research part of the thesis is devoted to the analysis of automatic functions in the field of skid steer loaders and the sensors used by them. Furthermore, an insight into the issues of creating a CAD 3D model for visualization and a mathematical (dynamic) model in the CoppeliaSim environment is presented. The rest of thesis focuses on the implementation of the loader control program. The control code allows manual control of the loader, calibration, saving positions of the working part and triggering of automatic functions for the boom and bucket. The output is a simulation containing a digital twin with automatic functions, manual control and a test polygon.