Mobile robot system for soil sampling

V diplomskem delu je predstavljena predelava prototipa robotskega invalidskega vozička v robotsko mobilno platformo z nameščenim vrtalnikom za odvzemanje vzorcev prsti. Na začetku je predstavljen splošen princip delovanja sistema za lokalizacijo s tehnologijo RTK. Zatem se spoznamo z namestitvijo in vzpostavitvijo bazne in mobilne postaje, ki sta potrebni za RTK lokalizacijo. V nadaljevanju pa so predstavljeni posamezni moduli robotske mobilne platforme. Opisano je, kako smo se lotili nadgrajevanja robotskega manipulatorja (vrtalnika) in kako smo predelali prototip robotskega invalidskega vozička, ki je bil izdelan v okviru projekta Cybathlon v Laboratoriju za robotiko v prostorih Fakultete za elektrotehniko, v robotsko mobilno platformo z vrtalnikom. Predstavljene in opisane so glavne komponente robotske mobilne platforme in programsko okolje TwinCAT, v katerem je sprogramirano vodenje platforme. Diplomsko nalogo smo zaključili s preizkusom delovanja mobilne platforme z vrtalnikom in z rezultati meritev RTK sistema.This thesis presents the conversion of an prototype robotic wheelchair into a mobile robotic platform with an installed drill for taking soil samples. Initially, the general working principle of the RTK localisation system is presented. Afterwards, the installation and set-up of the base station and mobile station required for RTK localisation are introduced. The individual modules of the mobile robotic platform are then presented. The thesis summarises how we upgraded the robotic manipulator (drill) and converted the prototype robotic wheelchair, built in the framework of the Cybathlon project at the Laboratory of Robotics, Faculty of Electrical Engineering, into a mobile robotic platform with a drill. The main components of the mobile robotic platform and the TwinCAT software environment in which the control of the platform is implemented are presented and described. The thesis concludes with a test of the mobile platform with the drill and the results of the RTK system measurements