Návrh, řízení a vizualizace třídičky barevných objektů s využitím robotické ruky L601-KT na platformě .NET framework

Abstract

This thesis solves control of robotic arm with type name L601-KT. Simplified kinematics model is used for robotic arm control. Thanks for it is possible to control robotic arm intuitive in Cartesian coordinate system. Created software controls robotic arm on the basis of information from camera and implements algorithms of processing and analysis. System works so that gets shot from camera at first, executes it and on the basis of information gained from it calculates control commands for particular servomotors. Finded objects than one by one sorts according their color and size to prepared pattern. This pattern contains corresponding inlets which are lined by appropriate color.

Application is created in programming language C# on Microsoft .NET Framework platform Mechanical model with robotic arm which disposes number of variable parameters for further use in education on Department of Measurement and Control was created in terms of this work.