Virtuální dvojče servisního robotického systému

Abstract

The diploma thesis deals with the creation of a virtual twin of a service robotic system. The introduction is an analysis of the current state of the service robotic system and available programs for creating a simulation environment. Furthermore, the requirements for the system are specified, which I then use. Then there is an example of creating the dynamics of a simulation model and kinematic coupling. The used sensors are also listed. Subsequently, a control panel is provided for controlling the robotic system, such as moving the arm, rotating the rear axle and adjusting the travel speed of the front axle, moving with the jaws of the effector. There is also a proposal to extend the sensory subsystem to increase autonomy. Finally, examples from simulations are shown and thus verification of the correct operation of the simulations. Simulation models are attached in the appendix