Řízení robotické ruky s pěti stupni volnosti

Abstract

This thesis is focused on robotic arm with a type designation AL5A, servo controller SSC-32 and Robotic arm Interactive Operating System RIOS. The first part deals with the robotic arm construction, its elements and the kinematics, which includes analysis of degrees of freedom and obtain a working envelope. The next part describes the hardware of servo controller, its command set and methods of communication with master device and the controlled devices, which are mainly servo motors. The third section is focused to set the dimensions of the robotic arm and its calibration in an interactive operating system RIOS and then the possibilities of programming tasks within the software. Based on the knowledge of these various elements, they are created three tasks, demonstrating the possibilities of the robotic arm assembly.