Návrh řídicích signálů pro sledování dané trajektorie hexapodem

Abstract

The diploma thesis is dealing with the design of control signals for the Stewart platform. The first part is devoted to the introduction to hexapods and the Stewart platform. The work contains inverse kinematics of hexapod, calculations of required positions of individual motors, generation of motion trajectory and conversion of the car movement to the platform trajectory. The work also shows a model for controlling the Acrome platform and a toolbox for the MATLAB Simscape environment, in which a 3D simulation model of this platform is created. The last part of the work is devoted to the connection of the Acrome Stewart platform model to the industrial PLC and the design of the own control system.