Your browser does not allow JavaScript!
JavaScript is necessary for the proper functioning of this website. Please enable JavaScript or use a modern browser.
|
|
SLO
|
ENG
|
Cookies and privacy
DKUM
EPF - Faculty of Business and Economics
FE - Faculty of Energy Technology
FERI - Faculty of Electrical Engineering and Computer Science
FF - Faculty of Arts
FGPA - Faculty of Civil Engineering, Transportation Engineering and Architecture
FKBV - Faculty of Agriculture and Life Sciences
FKKT - Faculty of Chemistry and Chemical Engineering
FL - Faculty of Logistic
FNM - Faculty of Natural Sciences and Mathematics
FOV - Faculty of Organizational Sciences in Kranj
FS - Faculty of Mechanical Engineering
FT - Faculty of Tourism
FVV - Faculty of Criminal Justice and Security
FZV - Faculty of Health Sciences
MF - Faculty of Medicine
PEF - Faculty of Education
PF - Faculty of Law
UKM - University of Maribor Library
UM - University of Maribor
UZUM - University of Maribor Press
COBISS
Faculty of Business and Economic, Maribor
Faculty of Agriculture and Life Sciences, Maribor
Faculty of Logistics, Celje, Krško
Faculty of Organizational Sciences, Kranj
Faculty of Criminal Justice and Security, Ljubljana
Faculty of Health Sciences
Library of Technical Faculties, Maribor
Faculty of Medicine, Maribor
Miklošič Library FPNM, Maribor
Faculty of Law, Maribor
University of Maribor Library
Bigger font
|
Smaller font
Introduction
Search
Browsing
Upload document
For students
For employees
Statistics
Login
First page
>
Show document
Show document
Title:
Integracija laparoskopskih klešč na robotski sistem UR5
Authors:
ID
Pahič, Rok
(Author)
ID
Gotlih, Karl
(Mentor)
More about this mentor...
ID
Hace, Aleš
(Mentor)
More about this mentor...
Files:
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
UDC:
004.896:007.52(043.2)
COBISS.SI-ID:
20384534
NUK URN:
URN:SI:UM:DK:R0NZNZMP
Publication date in DKUM:
07.11.2016
Views:
1437
Downloads:
118
Metadata:
Categories:
KTFMB - FS
Cite this work
Plain text
BibTeX
EndNote XML
EndNote/Refer
RIS
ABNT
ACM Ref
AMA
APA
Chicago 17th Author-Date
Harvard
IEEE
ISO 690
MLA
Vancouver
:
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
Copy citation
Average score:
0.5
1
1.5
2
2.5
3
3.5
4
4.5
5
(0 votes)
Your score:
Voting is allowed only for
logged in
users.
Share:
Searching for similar works...
Hover the mouse pointer over a document title to show the abstract or click on the title to get all document metadata.
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
Comments
Leave comment
You must
log in
to leave a comment.
Comments (0)
0 - 0 / 0
There are no comments!
Back