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undergraduate thesis
Razvoj algoritma upravljanja za hvataljku s gradiometrom
Zagreb: University of Zagreb, Faculty of Electrical Engineering and Computing, 2023. urn:nbn:hr:168:404121
Periš, Stela
University of Zagreb
Faculty of Electrical Engineering and Computing

Institutional repository: FER Repository

Cite this document

Periš, S. (2023). Razvoj algoritma upravljanja za hvataljku s gradiometrom (Undergraduate thesis). Zagreb: University of Zagreb, Faculty of Electrical Engineering and Computing. Retrieved from https://urn.nsk.hr/urn:nbn:hr:168:404121

Periš, Stela. "Razvoj algoritma upravljanja za hvataljku s gradiometrom." Undergraduate thesis, University of Zagreb, Faculty of Electrical Engineering and Computing, 2023. https://urn.nsk.hr/urn:nbn:hr:168:404121

Periš, Stela. "Razvoj algoritma upravljanja za hvataljku s gradiometrom." Undergraduate thesis, University of Zagreb, Faculty of Electrical Engineering and Computing, 2023. https://urn.nsk.hr/urn:nbn:hr:168:404121

Periš, S. (2023). 'Razvoj algoritma upravljanja za hvataljku s gradiometrom', Undergraduate thesis, University of Zagreb, Faculty of Electrical Engineering and Computing, accessed 25 November 2024, https://urn.nsk.hr/urn:nbn:hr:168:404121

Periš S. Razvoj algoritma upravljanja za hvataljku s gradiometrom [Undergraduate thesis]. Zagreb: University of Zagreb, Faculty of Electrical Engineering and Computing; 2023 [cited 2024 November 25] Available at: https://urn.nsk.hr/urn:nbn:hr:168:404121

S. Periš, "Razvoj algoritma upravljanja za hvataljku s gradiometrom", Undergraduate thesis, University of Zagreb, Faculty of Electrical Engineering and Computing, Zagreb, 2023. Available at: https://urn.nsk.hr/urn:nbn:hr:168:404121

Metadata
TitleRazvoj algoritma upravljanja za hvataljku s gradiometrom
Title (english)Control algorithm design for a gripper with gradiometer
AuthorStela Periš
MentorStjepan Bogdan (mentor)
Committee memberStjepan Bogdan (član povjerenstva)
Committee memberGoran Vasiljević (član povjerenstva)
Committee memberFrano Petric (član povjerenstva)
GranterUniversity of Zagreb
Faculty of Electrical Engineering and Computing
Zagreb
Defense date and country2023-07-04, Croatia
Scientific / art field,
discipline and subdiscipline		TECHNICAL SCIENCES
Computing
Abstract
U ovom radu opisan je razvoj algoritma za upravljanje hvataljkom. Sustav se sastoji od gradiometra koji šalje podatke na mikroupravljač Teensy 4.1. Na njemu se podaci obraduju i koriste dalje za određivanje ponašanja motora koji otvara i zatvara hvataljku. Informacije se sa gradiometra na mikroupravljač šalju putem SPI sabirnice, a istovremeno Teensy i motor Dynamixel MX-64 komuniciraju preko RS485 protokola. Dan je opis svake komponente sustava. Za implementaciju algoritma korišteno je Eclipse razvojno okruženje sa Sloeber pluginom. Dynamixel2Arduino biblioteka korištena je za ostvarenje komunikacije sa motorom, a algoritam upravljanja formiran je kao automat sa četiri stanja. Napravljeno je testiranje svih prijelaza automata simulacijom ulaznih vrijednosti.
Abstract (english)
This paper describes the development of a gripper control algorithm. The system consists of a gradiometer that sends data to the Teensy 4.1 microcontroller. On it, the data is processed and further used to determine the behavior of the motor that opens and closes the gripper. Information is sent from the gradiometer to the microcontroller via the SPI bus, and at the same time Teensy and the Dynamixel MX-64 servo motor communicate via the RS485 protocol. A description of each system component is given. The Eclipse development environment with the Sloeber plugin was used to implement the algorithm. The Dynamixel2Arduino library was used to communicate with the motor, and the control algorithm was formed as a four-state automaton. All automaton transitions are tested by simulating input values.
Keywords
Keywords (english)
Languagecroatian
URN:NBNurn:nbn:hr:168:404121
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 on2023-10-11 10:06:14