Robotická paže a její digitální dvojče

Abstract

This bachelor’s thesis deals with the design and implementation of a control program for an educational robotic arm. The introductory part of the thesis describes the kinematic structure of the robot and the hardware components used, for which the control program is developed. This is followed by a review of algorithms intended for robotic arm control and an experimental determination of the static characteristics of the servomotors. Based on the defined task of manipulating a cube, control algorithms are proposed, including an analytical solution of the inverse kinematics problem, verification of motion feasibility, and motion of the end effector along a straight line both in joint space and in the cartesian coordinate system. These algorithms are implemented in the robot control program and experimentally verified. The functionality, accuracy, and repeatability of the developed program are tested. A digital twin of the robotic arm is implemented in the form of a mathematical model, which serves as a basis for the design of the control algorithms.