Software pro teleoperační kontrolér

Abstract

The thesis deals with the development of software for a teleoperation controller for a manipulator arm located on the K3P4 exploration rover. The introduction is dedicated to the review of teleoperation controllers, the Robot Operating System (ROS), inverse kinematics, as well as describing the rover and arm for which the controller is intended. The following chapters focus on defining requirements, designing a printed circuit board (PCB), and describing the principle of the required redundant communication. Furthermore, the principle of implementing redundant communication is addressed to ensure the system's robustness. In subsequent sections, the software development is described for both the operator's PC and the control unit located in the teleoperation controller. Within the scope of the solution, communication between various components, inverse kinematics calculation, managing unexpected states, and other issues had to be addressed. In the conclusion, the system was evaluated in simulation and on a real rover, and subsequently evaluated.