20.500.12556/DKUM-64449 Integracija laparoskopskih klešč na robotski sistem UR5 Integration of laparoscopic forceps on robotic system UR5 V diplomskem delu je predstavljena integracija laparoskopskega orodja z že vgrajenimi aktuatorji, na robota UR5. Za vmesnik med obema elementoma je uporabljena mikrokrmilniška razvojna plošča EK-TM4C1294XL, katere naloga je vodenje orodja glede na zahteve prejete z robota. Mikrokrmilnik vodi štiri servomotorje preko pulzno širinsko moduliranega signala, sprejema pa podatke iz robota preko ethernet povezave. Z robota mikrokrmilnik sprejema zahtevane vrednosti položaja posamezne osi in mu nazaj sporoča trenutni položaj osi. Robot lahko osi vodi neposredno s poslanim zahtevanim položajem ali pa pošlje ukaz v katero stran naj se premika os in kdaj naj se ustavi. Sprejete podatke mikrokrmilnik preko kinematike prijemala preračuna v zasuke osi motorja. Poslane vrednosti do servomotorje omejuje s hitrostnim vodenjem. The thesis presents the integration of laparoscopic tools with integrated actuators on the robot UR5. For the interface between these two elements is used microcontroller development board EK-TM4C1294XL is used. Its task it to guide the tool according to the instructions received from the robot. Microcontroller leads four servomotors via pulse width modulated signal, however it accepts the data from the robot via the Ethernet link. The microcontroller receives the required position values of each axis from the robot and it sends the current position of the axis back to the robot. The robot axes can be lead directly by sending the required position or by sending a command to which side the axis should move and when to stop. Received data are converted into rotations of the motor axis via kinematics of the gripper by the microcontroller. The values sent to servomotors are restricted by the speed depending control. laparoskopsko orodje robot UR5 EK-TM4C1294XL TCP/IP standard PWM signal internetni vtičnik TI RTOS kinematika laparoscopic tool robot UR5 EK-TM4C1294XL TCP / IP standard PWM signal internet socket TI RTOS kinematics true true false [R. Pahič] Slovenski jezik Angleški jezik Diplomsko delo/naloga 2016-09-30 09:19:09 2016-11-07 12:14:23 2022-07-05 03:07:42 2019-07-11 14:02:31 2016 0 Maribor 0 0000-00-00 NiDoloceno NiDoloceno NiDoloceno 0000-00-00 0000-00-00 0000-00-00 004.896:007.52(043.2) 20384534 URN:SI:UM:DK:R0NZNZMP UN_Pahic_Rok_2016.pdf UN_Pahic_Rok_2016.pdf 1 AD7237436DB09AF453D77B1E08119DC5 d0f74ce6d60fbb0a9c4406c6e2ebbb1e29b8cf40f49dcbae90a141655090da8c d81b26ec-7c0d-11eb-bb7a-00155d0001ca https://dk.um.si/Dokument.php?lang=slv&id=108164 Fakulteta za strojništvo 0 0 0