Speed and position controllers design for parallel robot ATEGA

Tato bakalarska prace se zabyva identifikací paralelního robotu ATEGA a prenastavením jeho regulatoru polohy a rychlosti za cílem zvysení celkovve presnosti. Popisuje jednotlive kroky a metody, ktere byly za tímto ucelem pouzity. Zejmena pak soucasny stav a nastavení paralelního robotu ATEGA, navrh matematickeho modelu, identifikaci systemu, navrh noveho nastavení regulatoru polohy a rychlosti a overení vlastností nove navrzene regulace.Katedra kybernetikyObhájenoThis bachelor thesis deals with the identi cation of parallel robot ATEGA and design a new setting of position and speed controllers to increase the overall accuracy. It describes the steps and methods that were used for this purpose. In particular, the current situation and setting of parallel robot ATEGA, design mathematical model, system identi cation, design a new setting of speed and position controllers and verify the characteristics of newly designed control