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master's thesis
Primjena modelskog prediktivnog upravljanja u optimizaciji gibanja robota
Zagreb: University of Zagreb, Faculty of Electrical Engineering and Computing, 2016. urn:nbn:hr:168:208474
Šarlija, Marko
University of Zagreb
Faculty of Electrical Engineering and Computing

Institutional repository: FER Repository

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Šarlija, M. (2016). Primjena modelskog prediktivnog upravljanja u optimizaciji gibanja robota (Master's thesis). Zagreb: University of Zagreb, Faculty of Electrical Engineering and Computing. Retrieved from https://urn.nsk.hr/urn:nbn:hr:168:208474

Šarlija, Marko. "Primjena modelskog prediktivnog upravljanja u optimizaciji gibanja robota." Master's thesis, University of Zagreb, Faculty of Electrical Engineering and Computing, 2016. https://urn.nsk.hr/urn:nbn:hr:168:208474

Šarlija, Marko. "Primjena modelskog prediktivnog upravljanja u optimizaciji gibanja robota." Master's thesis, University of Zagreb, Faculty of Electrical Engineering and Computing, 2016. https://urn.nsk.hr/urn:nbn:hr:168:208474

Šarlija, M. (2016). 'Primjena modelskog prediktivnog upravljanja u optimizaciji gibanja robota', Master's thesis, University of Zagreb, Faculty of Electrical Engineering and Computing, accessed 28 August 2024, https://urn.nsk.hr/urn:nbn:hr:168:208474

Šarlija M. Primjena modelskog prediktivnog upravljanja u optimizaciji gibanja robota [Master's thesis]. Zagreb: University of Zagreb, Faculty of Electrical Engineering and Computing; 2016 [cited 2024 August 28] Available at: https://urn.nsk.hr/urn:nbn:hr:168:208474

M. Šarlija, "Primjena modelskog prediktivnog upravljanja u optimizaciji gibanja robota", Master's thesis, University of Zagreb, Faculty of Electrical Engineering and Computing, Zagreb, 2016. Available at: https://urn.nsk.hr/urn:nbn:hr:168:208474

Metadata
TitlePrimjena modelskog prediktivnog upravljanja u optimizaciji gibanja robota
Title (english)Application of Model Predictive Control in Optimisation of Robot Motion
AuthorMarko Šarlija
MentorZdenko Kovačić (mentor)
Committee memberZdenko Kovačić (predsjednik povjerenstva)
Committee memberStjepan Bogdan (član povjerenstva)
Committee memberMatko Orsag (član povjerenstva)
GranterUniversity of Zagreb
Faculty of Electrical Engineering and Computing
Zagreb
Defense date and country2016-07-13, Croatia
Scientific / art field,
discipline and subdiscipline		TECHNICAL SCIENCES
Electrical Engineering
Abstract
Kiwi je naziv za manipulatora tipa SCARA, konfiguracije RRTR. Kiwi-jem se upravlja iz Matlab-a, odnosno Simulink-a putem CAN-a, preko Real-Time Linux ciljnog racunala. Modelsko prediktivno upravljanje (MPC) se zasad uglavnom koristi za upravljanje sporim i relativno linearnim sustavima. U ovom radu MPC je upotrebljen za upravljanje pozicijom prvog zgloba Kiwi-ja. Izrađžen je nelinearan dinamicki model prvog zgloba koji dobro opisuje njegovo vladanje. Razvijen je optimizacijski algoritam koji omogućuje implementaciju nelinearnog MPC-a u stvarnom vremenu. Dana je usporedba s uobičajenim metodama upravljanja te smjernice za daljnji razvoj i poboljšanja.
Abstract (english)
Kiwi is a SCARA robot, set up as an RRTR configuration. Kiwi is controlled via Matlab, Simulink, using CAN and a Real-Time Linux target computer. Model predictive control (MPC) is nowadays mainly used in the control of linear systems with slow dynamics. In this paper, the MPC is used to control the position of the Kiwi’s first joint. A nonlinear dynamical model was made, describing the system dynamics well. An optimization algorithm was developed to implement the nonlinear MPC in real-time. Comparison with commonly used control methods was given, as well as the guidelines for further development and improvement.
Keywords
Keywords (english)
Languagecroatian
URN:NBNurn:nbn:hr:168:208474
Study programmeTitle: Electrical Engineering and Information Technology
Study programme type: university
Study level: graduate
Academic / professional title: magistar/magistra inženjer/inženjerka elektrotehnike i informacijske tehnologije (magistar/magistra inženjer/inženjerka elektrotehnike i informacijske tehnologije)
Type of resourceText
File originBorn digital
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Created on2018-02-06 12:13:40