20.500.12556/DKUM-36521 VODENJE ROBOTA KUKA KR 5 S POMOČJO HAPTIČNE NAPRAVE CONTROL OF KUKA KR 5 WITH HAPTIC DEVICE V nalogi je predstavljen programski vmesnik, ki omogoča vodenje robota s pomočjo haptične naprave. Razvit je bil program, ki se izvaja na osebnem računalniku in povezuje haptično napravo preko Firewire protokola z robotom KUKA KR 5 preko TCP/IP protokola. Za komuniciranje robotskega računalnika KRC z osebnim računalnikom je bilo potrebno izdelati server, ki se izvaja na osebnem računalniku in program klient, ki se izvaja na robotskem računalniku. Za prenos podatkov v robotski računalnik se je uporabil programski paket KUKA RSI (Robot Sensor Interface), ki ima funkcijo obdelave signalov v robotskem krmilniku v realnem času in lahko obenem vpliva tudi na gibe robota ali izvršitev programa s pomočjo obdelave signalov. Omogoča izmenjavo podatkov v realnem času med robotskim krmilnikom in zunanjo periferijo preko Etherneta. Podatki med serverjem in klientom se prenašajo v obliki XML datoteke. Programski vmesnik omogoča zajemanje oz. pridobivanje podatkov od haptične naprave preko firewire potokola ter prenos podatkov od server programa preko protokola TCP/IP na robotski krmilnik KRC. In this master thesys work, the program interface for a robot control with a haptic device, is presented. The program, which connects a PC and the haptic device by a FireWire protocol and by TCP/IP protocol with a robot KUKA KR 5, was developed. A server, which runs on the PC and a client, which runs on a robot computer are needed for the communication between the robot computer KRC and a PC. The program package KUKA RSI (robot sensor interface), which processed the signals of robotic controller in the real time, was used or the data transfer from the PC to the robot computer. This program package also influences the movements of a robot and execute the program by signal processing. It enables an exchange of data between the robot controller and outside peripherials in the real time by Ethernet. The information between the server and a client is transferred in the form of XML file. haptika haptična naprava teleoperiranje z robotom vodenje robota KUKA RSI KUKA KR5 haptics haptic device teleoperation with robot robot control KUKA RSI KUKA KR5 true true false [A. Glamnik] Slovenski jezik Angleški jezik Magistrsko delo 2012-06-12 08:40:32 2012-06-12 08:55:02 2022-04-20 08:48:27 2021-04-15 03:42:19 2012 0 Maribor 0 0000-00-00 NiDoloceno NiDoloceno NiDoloceno 0000-00-00 0000-00-00 0000-00-00 004.451.83:[681.521:007.52](043) 16047126 URN:SI:UM:DK:JEKPUHXV MAG_Glamnik_Andro_2012.pdf MAG_Glamnik_Andro_2012.pdf 1 B0440959BD7DBFA38903B88C460EF90D f115b6cf422c1bedc0b35a8f76890ff7a4dd72aa98a1a4d19c4d1c00f7b3f199 11e6f9fb-7c08-11eb-bb7a-00155d0001ca 20.500.12556/dkum/2c12e469-5e3f-42c7-b96c-7c7d4588b165 https://dk.um.si/Dokument.php?lang=slv&id=47668 Fakulteta za elektrotehniko, računalništvo in informatiko 0 0 0