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undergraduate thesis
Razvoj upravljačkog programa za sferni robot
Zagreb: University of Zagreb, Faculty of Electrical Engineering and Computing, 2021. urn:nbn:hr:168:861130
Piliškić, Marija
University of Zagreb
Faculty of Electrical Engineering and Computing

Institutional repository: FER Repository

Cite this document

Piliškić, M. (2021). Razvoj upravljačkog programa za sferni robot (Undergraduate thesis). Zagreb: University of Zagreb, Faculty of Electrical Engineering and Computing. Retrieved from https://urn.nsk.hr/urn:nbn:hr:168:861130

Piliškić, Marija. "Razvoj upravljačkog programa za sferni robot." Undergraduate thesis, University of Zagreb, Faculty of Electrical Engineering and Computing, 2021. https://urn.nsk.hr/urn:nbn:hr:168:861130

Piliškić, Marija. "Razvoj upravljačkog programa za sferni robot." Undergraduate thesis, University of Zagreb, Faculty of Electrical Engineering and Computing, 2021. https://urn.nsk.hr/urn:nbn:hr:168:861130

Piliškić, M. (2021). 'Razvoj upravljačkog programa za sferni robot', Undergraduate thesis, University of Zagreb, Faculty of Electrical Engineering and Computing, accessed 22 November 2024, https://urn.nsk.hr/urn:nbn:hr:168:861130

Piliškić M. Razvoj upravljačkog programa za sferni robot [Undergraduate thesis]. Zagreb: University of Zagreb, Faculty of Electrical Engineering and Computing; 2021 [cited 2024 November 22] Available at: https://urn.nsk.hr/urn:nbn:hr:168:861130

M. Piliškić, "Razvoj upravljačkog programa za sferni robot", Undergraduate thesis, University of Zagreb, Faculty of Electrical Engineering and Computing, Zagreb, 2021. Available at: https://urn.nsk.hr/urn:nbn:hr:168:861130

Metadata
TitleRazvoj upravljačkog programa za sferni robot
Title (english)Development of control modules for a spherical robot
AuthorMarija Piliškić
MentorStjepan Bogdan (mentor)
Committee memberStjepan Bogdan (predsjednik povjerenstva)
Committee memberMarko Križmančić (član povjerenstva)
Committee memberAntonella Barišić (član povjerenstva)
GranterUniversity of Zagreb
Faculty of Electrical Engineering and Computing
Zagreb
Defense date and country2021-07-02, Croatia
Scientific / art field,
discipline and subdiscipline		TECHNICAL SCIENCES
Computing
Abstract
U ovom radu opisuje se razvoj upravljačkog programa za sferni robot razvijen na TU Delft. Prije razvoja samog programa robot je opisan matematičkim modelom te su u MATLAB-u prikazani odzivi željenih veličina po kojima se upravlja. Za upravljanje robotom koriste se regulatori čiji su parametri prvo određeni pomoću matematičkog modela, a koji su zatim prilagođeni kako bi odgovarali stvarnom sustavu. Robotom se upravlja koristeći joystick, gdje jedna palica joystick-a određuje ubrzanje, a druga usmjerenje. Razvijenim algoritmom uspješno se upravlja robotom te su dane preporuke za budući rad s robotom.
Abstract (english)
This paper describes the development of control modules for a spherical robot developed at TU Delft. First, the robot was modeled mathematically and then implemented in MATLAB where we visualized the response of controlled values to reference signals. To control the robot we use PID controllers, with parameters determined by adjusting the model parameters obtained in MATLAB. The robot is controlled using a joystick, with the left stick representing acceleration and the right stick representing direction. Using the developed algorithm we were able to successfully control the robot and some recommendations for future improvements of the robot were made.
Keywords
Keywords (english)
Languagecroatian
URN:NBNurn:nbn:hr:168:861130
Study programmeTitle: Computing
Study programme type: university
Study level: undergraduate
Academic / professional title: sveučilišni/a prvostupnik/ prvostupnica (baccalaureus/baccalaurea) inženjer/inženjerka računarstva (sveučilišni/a prvostupnik/ prvostupnica (baccalaureus/baccalaurea) inženjer/inženjerka računarstva)
Type of resourceText
File originBorn digital
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Created on2023-01-14 21:25:59