Řízení plošiny s 3 stupni volnosti

Abstract

Táto bakalárska práca sa zaoberá návrhom pohyblivej plošiny s tromi stupňami voľnosti, ktorá bude schopná samostatne nastavovať svoju polohu pomocou akcelerometra a balansovať guľôčku pomocou dotykového displeja umiesteného na vrchu platformy.

This bachelor thesis deals with design of motion platform with three degrees of freedom. It will be able to set its position autonomously with and accelerometer, as well as to balance a marble through a touchscreen placed on top of the platform. In the thesis, there will be a description of the basic types of robots used industrially and a history of development of parallel robots. Next, there will be a mathematical description of movement of the platform, a creation of the virtual model of the platform, and description of the components used for its construction. Lastly there will be an explanation of control algorithm via flowchart.