Návrh a implementace řídicí aplikace pro převod obrazců pro dvouosý manipulátor

Abstract

The thesis deals with the design and implementation of an application for converting 2D shapes into a trajectory intended for the control of a two-axis manipulator. The solution includes loading geometry from DXF files, converting individual entities into a point-based representation, generating contour and fill paths, planning transitions between objects, calculating the velocity profile, and subsequently transferring the data to a PLC via OPC UA communication. The thesis also includes the design of PLC logic for uploading and executing the trajectory using motion instructions. The functionality of the proposed solution was verified by tests focused on the influence of the number of trajectory points on execution time and path-tracking accuracy, as well as on the evaluation of transition optimization between objects. The result of the thesis is a functional application that integrates geometry processing, trajectory generation, and communication with the control system into a single whole.