Digitální dvojče robotického manipulátoru

Abstract

The bachelor's thesis deals with a creation of a digital twin of a robotic manipulator. The introduction is dedicated to the definition of digital twin and introduces the issues associated with a digital twin and then sets the objectives of the thesis. The research part is dedicated to comparison of eight commercially available manipulator systems of the STEM kits. Furthermore, the requirement sheet, for the selection of the kit for which the digital twin is formed, was created. The next chapter is focused on building the physical model of manipulator and its resurgence. Following is the description of creation of the 3D model in CAD system and the description of creation of the simulation model in simulation environment CoppeliaSim. The last chapter is dedicated to the solution of two assigned simulation problems. The code of resurgence of the physical model, 3D model in the CAD system and simulation model with solved inverse kinematics and models of two solved problems are attached in the appendix.