. . . "Prototyp HW pro \u0159\u00EDzen\u00ED pohybu robota, \u0159\u00EDdic\u00ED deska v\u010Detn\u011B v\u0161ech I/O a komunika\u010Dn\u00EDch modul\u016F" . "V\u00FDsledek byl vytvo\u0159en, otestov\u00E1n a vyu\u017E\u00EDv\u00E1n p\u0159\u00EDjemcem. \u00DAJV \u0158e\u017E, a.s.; Kontaktn\u00ED osoba: Ing. Ladislav Hor\u00E1\u010Dek, CSc.; Ladislav.Horacek@ujv.cz" . "Technologie je pl\u00E1novan\u00FDm v\u00FDstupem projektu TA \u010CR ALFA TA01020457, jeho\u017E ekonomick\u00FD p\u0159\u00EDnos je definov\u00E1n jako relevantn\u00ED pod\u00EDl p\u0159\u00EDnos\u016F projektu." . "\u010Cechura, Tom\u00E1\u0161" . "\u0160vejda, Martin" . . . . "P(TA01020457)" . "http://www.kky.zcu.cz/cs/sw/NDTrobot_UJV_hardware" . "S\u00E1va - HW \u0159\u00EDzen\u00ED pohybu" . "1"^^ . "Plajt, V\u00E1clav" . . "Prototype of robot control system HW (including control board and I/O communication modules)"@en . . . . . "HW pro \u0159\u00EDzen\u00ED pohybu robotu sest\u00E1v\u00E1 z vlastn\u00ED mechanick\u00E9 konstrukce manipul\u00E1toru, jednotliv\u00FDch pohon\u016F ramen manipul\u00E1toru a obvodov\u00E9ho pojezdu po potrub\u00ED. Motory jednotliv\u00FDch pohon\u016F ramen a obvodov\u00E9ho pojezdu (4 rota\u010Dn\u00ED a 1 line\u00E1rn\u00ED motor) byly vybr\u00E1ny na z\u00E1klad\u011B simula\u010Dn\u00EDch experiment\u016F s virtu\u00E1ln\u00EDm modelem manipul\u00E1toru s ohledem na po\u017Eadovan\u00E9 trajektorie svar\u016F, kter\u00E9 maj\u00ED b\u00FDt manipul\u00E1torem sledov\u00E1ny. HW manipul\u00E1toru byl d\u00E1le vybaven p\u0159\u00EDdavn\u00FDmi I/O kartami pro zpracov\u00E1n\u00ED sign\u00E1l\u016F z absolutn\u00EDch enkod\u00E9r\u016F a ke generov\u00E1n\u00ED enkoderov\u00E9ho v\u00FDstupu pro pot\u0159eby zpracov\u00E1n\u00ED dat z\u00EDskan\u00FDch z pou\u017Eit\u00E9 extern\u00ED technologie pro UZ NDT svar\u016F potrubn\u00EDch syst\u00E9m\u016F. Jako \u0159\u00EDd\u00EDc\u00ED po\u010D\u00EDta\u010D byl pou\u017Eit kompaktn\u00ED syst\u00E9m PC ENGINES ALIX. Za \u00FA\u010Delem zaji\u0161t\u011Bn\u00ED pot\u0159ebn\u00E9 mobility byl vlastn\u00ED HW (vyjma jednotky \u0159\u00EDzen\u00ED line\u00E1rn\u00EDho pohonu) um\u00EDst\u011Bn do p\u0159enosn\u00E9 sk\u0159\u00EDn\u011B rozvad\u011B\u010De. U\u017Eivatelsk\u00E1 vizualizace a ovl\u00E1d\u00E1n\u00ED byla zaji\u0161t\u011Bna prost\u0159ednictv\u00EDm konvertibiln\u00EDho notebooku komunikuj\u00EDc\u00EDho p\u0159es protokol TCP/IP (websockets) s \u0159\u00EDdic\u00EDm po\u010D\u00EDta\u010Dem." . "Prototyp HW pro \u0159\u00EDzen\u00ED pohybu robota, \u0159\u00EDdic\u00ED deska v\u010Detn\u011B v\u0161ech I/O a komunika\u010Dn\u00EDch modul\u016F" . . "The robot control system HW consists of the mechanical construction and actuators. The motors for individual actuators were chosen according to the simulation experiments including virtual model of proposed manipulator. The manipulator HW is equipped with additional I/O boards for processing of absolute encoder signals and emulating encoder signals for external UZ NDT technology. The PC ENGINES ALIX was used as the main controller. The mobile switchboard was used to ensure demanded mobility of the entire robotic technology. The user interface and visualization was realized by the convertible laptop communicating with control PC via TCP/IP protocol (websockets)."@en . "HW pro \u0159\u00EDzen\u00ED pohybu robotu sest\u00E1v\u00E1 z vlastn\u00ED mechanick\u00E9 konstrukce manipul\u00E1toru, jednotliv\u00FDch pohon\u016F ramen manipul\u00E1toru a obvodov\u00E9ho pojezdu po potrub\u00ED. Motory jednotliv\u00FDch pohon\u016F ramen a obvodov\u00E9ho pojezdu (4 rota\u010Dn\u00ED a 1 line\u00E1rn\u00ED motor) byly vybr\u00E1ny na z\u00E1klad\u011B simula\u010Dn\u00EDch experiment\u016F s virtu\u00E1ln\u00EDm modelem manipul\u00E1toru s ohledem na po\u017Eadovan\u00E9 trajektorie svar\u016F, kter\u00E9 maj\u00ED b\u00FDt manipul\u00E1torem sledov\u00E1ny. HW manipul\u00E1toru byl d\u00E1le vybaven p\u0159\u00EDdavn\u00FDmi I/O kartami pro zpracov\u00E1n\u00ED sign\u00E1l\u016F z absolutn\u00EDch enkod\u00E9r\u016F a ke generov\u00E1n\u00ED enkoderov\u00E9ho v\u00FDstupu pro pot\u0159eby zpracov\u00E1n\u00ED dat z\u00EDskan\u00FDch z pou\u017Eit\u00E9 extern\u00ED technologie pro UZ NDT svar\u016F potrubn\u00EDch syst\u00E9m\u016F. Jako \u0159\u00EDd\u00EDc\u00ED po\u010D\u00EDta\u010D byl pou\u017Eit kompaktn\u00ED syst\u00E9m PC ENGINES ALIX. Za \u00FA\u010Delem zaji\u0161t\u011Bn\u00ED pot\u0159ebn\u00E9 mobility byl vlastn\u00ED HW (vyjma jednotky \u0159\u00EDzen\u00ED line\u00E1rn\u00EDho pohonu) um\u00EDst\u011Bn do p\u0159enosn\u00E9 sk\u0159\u00EDn\u011B rozvad\u011B\u010De. U\u017Eivatelsk\u00E1 vizualizace a ovl\u00E1d\u00E1n\u00ED byla zaji\u0161t\u011Bna prost\u0159ednictv\u00EDm konvertibiln\u00EDho notebooku komunikuj\u00EDc\u00EDho p\u0159es protokol TCP/IP (websockets) s \u0159\u00EDdic\u00EDm po\u010D\u00EDta\u010Dem."@cs . "Prototype of robot control system HW (including control board and I/O communication modules)"@en . "Prototyp HW pro \u0159\u00EDzen\u00ED pohybu robota, \u0159\u00EDdic\u00ED deska v\u010Detn\u011B v\u0161ech I/O a komunika\u010Dn\u00EDch modul\u016F"@cs . "robot HW; controller; servocontrollers; vizualization; user interface"@en . . . "\u0160t\u011Btina, Milan" . "RIV/46356088:_____/13:#0001560!RIV15-TA0-46356088" . "[524EB18A8A2D]" . "6"^^ . . "RIV/46356088:_____/13:#0001560" . "Schlegel, Milo\u0161" . . . "Hor\u00E1\u010Dek, Ladislav" . . . . . "100587" . "Prototyp HW pro \u0159\u00EDzen\u00ED pohybu robota, \u0159\u00EDdic\u00ED deska v\u010Detn\u011B v\u0161ech I/O a komunika\u010Dn\u00EDch modul\u016F"@cs .