20.500.12556/DKUM-75616 Developing and Controling Robot Arm Model with Avnet Microzed Development Board magistrsko delo Izdelava in vodenje modela robotske roke z razvojnim sistemom Avnet Microzed This master's thesis describes development and building of the SCARA robot arm with two rotational joints. Using SolidWorks, model of the SCARA robot was built, serving as development tool for the physical model. Controlling the SCARA robot was done with MicroZed development board, based on the Zynq-7000 SoC, which consists of a field-programmable gate array (FPGA) and ARM Cortex-A9 processor. Purpose of this master's thesis was to build a SCARA robot and utilize the FPGA for interaction with peripherals, ARM Cortex-A9 processor was used for implementing a cascading control system. This master's thesis is the foundation for future work involving advanced control techniques consisting of nonlinear controllers, which are developed in the Laboratory for Cognitive Systems and Mechatronics at Faculty of Electrical Engineering and Computer Science at Maribor. Ta magistrska naloga opisuje razvoj in izdelavo robotske roke SCARA z dvema rotacijskima sklepoma. Z uporabo SolidWorksa je bil izdelan model robota, ki služi kot razvojno orodje za fizični model. Nadzor SCARA robota je bil izveden z MicroZedovo razvojno ploščo, ki temelji na Zynq-7000 SoC, ki je sestavljena iz FPGA-ja in procesorja ARM Cortex-A9. Namen tega magistrskega dela je bil izdelati SCARA robot in uporabiti FPGA za interakcijo s perifernimi napravami, ARM Cortex-A9 procesor je bil uporabljen za izvajanje kaskadnega sistema krmiljenja. Ta magistrska naloga je temelj za prihodnje delo, ki vključuje napredne tehnike krmiljenja, sestavljene iz nelinearnih krmilnikov, ki so jih razvili v Laboratoriju za kognitivne sisteme in mehatroniko na Fakulteti za elektrotehniko, računalništvo in informatiko v Mariboru. SCARA robot cascade control system FPGA Zynq-7000 SoC MicroZed development board SCARA robot kaskadni sistem krmiljenja FPGA Zynq-7000 SoC MicroZed razvojna plošča true true false [M. Purić] Angleški jezik Slovenski jezik Magistrsko delo/naloga 2019-12-18 10:15:38 2020-01-29 11:16:44 2022-08-09 11:33:25 2020-03-05 03:10:22 2019 0 Maribor 0 Maribor XI, 58 str. 0000-00-00 NiDoloceno NiDoloceno NiDoloceno 0000-00-00 0000-00-00 0000-00-00 681.5:007.52(043.2) 23033622 URN:SI:UM:DK:BFBXCJMF MAG_Puric_Marko_2020.pdf MAG_Puric_Marko_2020.pdf 1 8B64AC3DF4E45694673906C9DD373840 a85fb9e003fa4bbe8ab82f0e357d1104fa299a54e6793f25528c5b9f75013145 342c1ddb-7c11-11eb-bb7a-00155d0001ca 20.500.12556/dkum/33b5e33c-2b3b-484e-8971-8e30a07fde55 https://dk.um.si/Dokument.php?lang=slv&id=140433 Fakulteta za strojništvo 0 0 0