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undergraduate thesis
Simulacija robotskog manipulatora u MuJoCo simulatoru
Zagreb: University of Zagreb, Faculty of Electrical Engineering and Computing, 2022. urn:nbn:hr:168:462827
Jurić, Marko
University of Zagreb
Faculty of Electrical Engineering and Computing

Institutional repository: FER Repository

Cite this document

Jurić, M. (2022). Simulacija robotskog manipulatora u MuJoCo simulatoru (Undergraduate thesis). Zagreb: University of Zagreb, Faculty of Electrical Engineering and Computing. Retrieved from https://urn.nsk.hr/urn:nbn:hr:168:462827

Jurić, Marko. "Simulacija robotskog manipulatora u MuJoCo simulatoru." Undergraduate thesis, University of Zagreb, Faculty of Electrical Engineering and Computing, 2022. https://urn.nsk.hr/urn:nbn:hr:168:462827

Jurić, Marko. "Simulacija robotskog manipulatora u MuJoCo simulatoru." Undergraduate thesis, University of Zagreb, Faculty of Electrical Engineering and Computing, 2022. https://urn.nsk.hr/urn:nbn:hr:168:462827

Jurić, M. (2022). 'Simulacija robotskog manipulatora u MuJoCo simulatoru', Undergraduate thesis, University of Zagreb, Faculty of Electrical Engineering and Computing, accessed 29 November 2024, https://urn.nsk.hr/urn:nbn:hr:168:462827

Jurić M. Simulacija robotskog manipulatora u MuJoCo simulatoru [Undergraduate thesis]. Zagreb: University of Zagreb, Faculty of Electrical Engineering and Computing; 2022 [cited 2024 November 29] Available at: https://urn.nsk.hr/urn:nbn:hr:168:462827

M. Jurić, "Simulacija robotskog manipulatora u MuJoCo simulatoru", Undergraduate thesis, University of Zagreb, Faculty of Electrical Engineering and Computing, Zagreb, 2022. Available at: https://urn.nsk.hr/urn:nbn:hr:168:462827

Metadata
TitleSimulacija robotskog manipulatora u MuJoCo simulatoru
Title (english)Robot manipulator simulation in MuJoCo simulator
AuthorMarko Jurić
MentorIvan Marković (mentor)
Committee memberIvan Marković (član povjerenstva)
Committee memberGoran Popović (član povjerenstva)
Committee memberIvan Bilić (član povjerenstva)
GranterUniversity of Zagreb
Faculty of Electrical Engineering and Computing
Zagreb
Defense date and country2022-09-01, Croatia
Scientific / art field,
discipline and subdiscipline		TECHNICAL SCIENCES
Computing
Abstract
Cilj rada je demonstrirati korištenje MuJoCo fizičkog simulatora na primjeru jednos- tavnog robotskog modela. MuJoCo je pokrata za Multi-Joint dynamics with Contact. Fizički je simulator široke primjene i svrha mu je olakšati istraživanje i razvoj u svim područjima gdje je potrebna precizna simulacija složenih sustava. Model, koji je korišten, je imitacija matematičkog oscilatora (njihalo). Nad tim modelom, izvršene su 4 simulacije koje pokazuju opseg mogućnosti upravljanja njime, kao i njegovom okolinom. Cilj svake od simulacija je, pomoću fizikalne podloge, svakom sljedećom približiti rezultate simulacije ponašanju robota u stvarnosti. Proučeni su zglobovi, senzori, sile sustava, mogući ulazni parametri zglobu - brzina, pozicija i okretni moment, a za analizu uspješnosti prikazane su trajektorije pomoću, već navedenih, senzora.
Abstract (english)
The aim of the presented article is to demonstrate usage of the MuJoCo physics engine on an example of a simple robotic model. MuJoCo stands for Multi-Joint dynamics with Contact. It is a physics simulator with a wide range of usage and its purpose is to facilitate research and development of all fields where precise simulation of complex systems is needed.The model, that is being used, is an imitation of the mathematical oscillator (pendulum). Four simulations have been done using it. They show a variety of possibilities on how to control robot and its environment. The aim of every simulation is achieving less difference between simulation and reality with each new simulation while using physics theory. Joints, sensors, system implemented forces, input parameters - velocity, position and torque have all been studied. Performance analysis has been shown using trajectories given from sensors.
Keywords
Keywords (english)
Languagecroatian
URN:NBNurn:nbn:hr:168:462827
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 on2023-01-15 10:27:43