Víceosý systém s integrovanými pohony

Abstract

This thesis describes the mechanical design, assembly, wiring and main design of the control software for a modular robot. Supplied motion units were built into the modular robotic arm, power supplies were realized as well as connecting blocks with a CAN bus. An application for controlling the manipulator was made in the C# programming language. This application ensures the creation of messages and communication with modules, the calculation of inverse kinematics, decoding incoming messages and other necessary sub-functions. The application also made a user interface with its own simple programming language. For easy operating and programming of manipulator can be used gamepad too.