Multirörelseplattform - Chalmers tekniska högskola

3.3.7 C Programmering ........................................................................................... 20
3.4 Prestanda & optimering ....................................................................................... 20
3.5 Utrustning & Säkerhet ......................................................................................... 21
4. Genomförande .............................................................................................................. 23
4.1 Konstruktion ........................................................................................................... 23
4.1.1 Robotarm .......................................................................................................... 23
4.1.2 Testning ............................................................................................................ 24
4.1.3 Experimenterande .......................................................................................... 24
4.1.4 Återgång till robotarm ................................................................................... 25
4.1.5 Kopplingar........................................................................................................ 25
4.1.6 Styrning ............................................................................................................ 25
4.1.7 Stegmotor ......................................................................................................... 26
4.1.8 Roterande platta ............................................................................................. 26
4.1.9 Kopplingsmetod ............................................................................................... 27
4.1.10 Störningar i systemet ................................................................................... 28
4.1.11 Positionering .................................................................................................. 28
4.2 Beräkningar ............................................................................................................ 30
4.2.1 Forward kinematics ........................................................................................ 30
4.2.2 Inverse Kinematics ......................................................................................... 35
4.2.3 Denavit-Hartenberg ....................................................................................... 38
4.3 Programmering ...................................................................................................... 39
4.3.1 Styrning av motorer med potentiometrar ................................................... 39
4.3.2 Skicka kalibreringskoordinater .................................................................... 39
4.3.3 Besöka en mottagen koordinat ..................................................................... 39
4.3.4 Serial Monitor Interface ................................................................................ 40
5. Resultat ......................................................................................................................... 42
5.1 Utveckling ............................................................................................................... 42
5.2 Kalibrering .............................................................................................................. 42
5.3 Sensorer ................................................................................................................... 42
5.4 Verifering av problemställning ............................................................................ 42
6. Slutsatser ...................................................................................................................... 43
6.1 Bakgrund till problemställning ........................................................................... 43
6.2 Utvecklingsmöjligheter ......................................................................................... 43
6.3 Beräkningsanalys .................................................................................................. 43
6.4 Arbetsgenomgång .................................................................................................. 44
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