Implementacija ADS komunikacijskog protokola na viličaru Trey

master's thesis

• Title (english): Implementation of ADS communication protocol for the Trey forklifter
• Author: Ivan Vuksan
• Mentor: Đula Nađ (mentor)
• Committee member: Đula Nađ (član povjerenstva)
• Committee member: Igor Kvasić (član povjerenstva)
• Committee member: Vladimir Slošić (član povjerenstva)
• Granter: University of Zagreb; Faculty of Electrical Engineering and Computing; Zagreb
• Defense date and country: 2023-07-07, Croatia

Abstract

Robot Trey autonomni je viličar napravljen za potrebe istovara i utovara kamiona. Njegova arhitektura sastoji se od velikog broja senzora i aktuatora koji se upravljaju PLC-om tvrtke Beckhoff. PLC garantira upravljanje u stvarnom vremenu dok navigacijsko računalo osigurava autonomne mogučnosti viličara. Predstavljena je alternativna vrsta komunikacije između PLC-a i Navigacijskog računala pomoću ADS protokola. Objašnjena je problematika i teorijska pozadina te izvedba ADSAPI-a. Prikazani su rezultati mjerenja čitanja ili pisanja pomoću ADS protokola te je napravljena usporedba sa CANOpen komunikacijom. Opisana je integracija koda u više slojeve
software-a te njegova provjera točnosti.

Abstract (english)

Robot Trey is an autonomous forklift made for unloading and loading trucks. Its architecture consists of a large number of sensors and actuators controlled by Beckhoff’s
PLC. The PLC guarantees real-time control while the Navigation computer ensures the
autonomous capabilities of the forklift. An alternative type of communication between
the PLC and the Navigation computer using the ADS protocol is presented. The problem and theoretical background and performance of ADSAPI are explained. The results of reading or writing measurements using the ADS protocol are presented and a comparison with CANOpen communication is made. The integration of the code into multiple software layers and its accuracy verification are described.

• Keywords: robot Trey; ADS; CANOpen; Beckhoff; ADSAPI
• Keywords (english): robot Trey; ADS; CANOpen; Beckhoff; ADSAPI
• Language: croatian
• URN:NBN: urn:nbn:hr:168:917828
• Study programme: Title: Information and Communication Technology; Study programme type: university; Study level: graduate; Academic / professional title: magistar/magistra inženjer/inženjerka informacijske i komunikacijske tehnologije (magistar/magistra inženjer/inženjerka informacijske i komunikacijske tehnologije)
• Type of resource: Text
• File origin: Born digital
• Access conditions: Closed access
• Created on: 2023-07-13 10:41:00