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Title:Integracija laparoskopskih klešč na robotski sistem UR5
Authors:ID Pahič, Rok (Author)
ID Gotlih, Karl (Mentor) More about this mentor... New window
ID Hace, Aleš (Mentor) More about this mentor... New window
Files:.pdf UN_Pahic_Rok_2016.pdf (2,62 MB)
MD5: AD7237436DB09AF453D77B1E08119DC5
 
Language:Slovenian
Work type:Bachelor thesis/paper
Typology:2.11 - Undergraduate Thesis
Organization:FS - Faculty of Mechanical Engineering
Abstract: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.
Keywords:laparoskopsko orodje, robot UR5, EK-TM4C1294XL, TCP/IP standard, PWM signal, internetni vtičnik, TI RTOS, kinematika
Place of publishing:Maribor
Publisher:[R. Pahič]
Year of publishing:2016
PID:20.500.12556/DKUM-64449 New window
UDC:004.896:007.52(043.2)
COBISS.SI-ID:20384534 New window
NUK URN:URN:SI:UM:DK:R0NZNZMP
Publication date in DKUM:07.11.2016
Views:1437
Downloads:118
Metadata:XML DC-XML DC-RDF
Categories:KTFMB - FS
:
PAHIČ, Rok, 2016, Integracija laparoskopskih klešč na robotski sistem UR5 [online]. Bachelor’s thesis. Maribor : R. Pahič. [Accessed 9 January 2025]. Retrieved from: https://dk.um.si/IzpisGradiva.php?lang=eng&id=64449
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Secondary language

Language:English
Title:Integration of laparoscopic forceps on robotic system UR5
Abstract: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.
Keywords:laparoscopic tool, robot UR5, EK-TM4C1294XL, TCP / IP standard PWM signal, internet socket, TI RTOS, kinematics


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