Izrada CAN komunikacijskog rješenja za sustav upravljanja SCARA robotom Kiwi

undergraduate thesis

• Title (english): Realization of CAN Communication Solution for SCARA Robot Kiwi Control System
• Author: Karlo Brezović
• Mentor: Zdenko Kovačić (mentor)
• Committee member: Zdenko Kovačić (predsjednik povjerenstva)
• Committee member: Ante Zglav (član povjerenstva)
• Committee member: Edin Kočo (član povjerenstva)
• Granter: University of Zagreb; Faculty of Electrical Engineering and Computing; Zagreb
• Defense date and country: 2017-07-12, Croatia
• Scientific / art field, discipline and subdiscipline: TECHNICAL SCIENCES; Electrical Engineering

Abstract

SCARA robotu Kiwi dodali smo RIOX karticu čiji je zadatak primanje signala s graničnika i prosljeđivanje te informacije putem CAN sabirnice na motor kako bi se rotacijski zglob zaustavio u slučaju da napusti predviđeno radno područje. Također je dodana i funkcija „homeing“ koja uzrokuje da se robot počinje gibati u jednom smjeru dok ne naiđe na graničnik, nakon čega se zaustavlja, pamti trenutni položaj enkodera te se vrača na početni položaj.

Abstract (english)

An RIOX module was added to the SCARA robot Kiwi, whose task is to receive signal from the switcher and to send it forward via the CAN bus to the motor. Becous of that, the robot will stop moving after it leaves the allowed positions. The "homeing" function has been added, which causes the robot to start shaking in one direction until it reaches the switch, stops, memorizes the current encoder position and returns to the starting position.

• Keywords: RIOX; SCARA robot Kiwi; CAN; CANopen; RoboCAN; MicroBasic; Roboteq
• Keywords (english): RIOX; SCARA robot Kiwi; CAN; CANopen; RoboCAN; MicroBasic; Roboteq
• Language: croatian
• URN:NBN: urn:nbn:hr:168:653173
• Study programme: Title: Electrical Engineering and Information Technology; Study programme type: university; Study level: undergraduate; Academic / professional title: sveučilišni/a prvostupnik/ prvostupnica (baccalaureus/baccalaurea) inženjer/inženjerka elektrotehnike i informacijske tehnologije (sveučilišni/a prvostupnik/ prvostupnica (baccalaureus/baccalaurea) inženjer/inženjerka elektrotehnike i informacijske tehnologije)
• Type of resource: Text
• File origin: Born digital
• Access conditions: Closed access
• Created on: 2019-03-13 19:20:08