Řízení robotického ramene SCHUNK

Abstract

This bachelor’s thesis deals with the control of a SCHUNK robotic manipulator composed of modular drive units with integrated control electronics. The aim of the thesis is to analyze the current state of the manipulator, propose suitable control methods, and implement a selected control approach, including verification of its functionality. The first part of the thesis introduces the problem and provides an analysis of the existing technical solution of the manipulator, including its mechanical structure, drive units, and communication architecture based on the CAN bus. Furthermore, a working stand is designed and implemented to ensure safe operation of the manipulator and to enable demonstration tasks. Subsequently, several control approaches are proposed from both hardware and software perspectives. The selected approach is implemented and experimentally verified.