prikaz prve stranice dokumenta Upravljanje silom dodira u vertikalnoj osi manipulatora na bespilotnoj letjelici
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undergraduate thesis
Upravljanje silom dodira u vertikalnoj osi manipulatora na bespilotnoj letjelici
Zagreb: University of Zagreb, Faculty of Electrical Engineering and Computing, 2017. urn:nbn:hr:168:893884
Bevanda, Petar
University of Zagreb
Faculty of Electrical Engineering and Computing

Institutional repository: FER Repository

Cite this document

Bevanda, P. (2017). Upravljanje silom dodira u vertikalnoj osi manipulatora na bespilotnoj letjelici (Undergraduate thesis). Zagreb: University of Zagreb, Faculty of Electrical Engineering and Computing. Retrieved from https://urn.nsk.hr/urn:nbn:hr:168:893884

Bevanda, Petar. "Upravljanje silom dodira u vertikalnoj osi manipulatora na bespilotnoj letjelici." Undergraduate thesis, University of Zagreb, Faculty of Electrical Engineering and Computing, 2017. https://urn.nsk.hr/urn:nbn:hr:168:893884

Bevanda, Petar. "Upravljanje silom dodira u vertikalnoj osi manipulatora na bespilotnoj letjelici." Undergraduate thesis, University of Zagreb, Faculty of Electrical Engineering and Computing, 2017. https://urn.nsk.hr/urn:nbn:hr:168:893884

Bevanda, P. (2017). 'Upravljanje silom dodira u vertikalnoj osi manipulatora na bespilotnoj letjelici', Undergraduate thesis, University of Zagreb, Faculty of Electrical Engineering and Computing, accessed 25 November 2024, https://urn.nsk.hr/urn:nbn:hr:168:893884

Bevanda P. Upravljanje silom dodira u vertikalnoj osi manipulatora na bespilotnoj letjelici [Undergraduate thesis]. Zagreb: University of Zagreb, Faculty of Electrical Engineering and Computing; 2017 [cited 2024 November 25] Available at: https://urn.nsk.hr/urn:nbn:hr:168:893884

P. Bevanda, "Upravljanje silom dodira u vertikalnoj osi manipulatora na bespilotnoj letjelici", Undergraduate thesis, University of Zagreb, Faculty of Electrical Engineering and Computing, Zagreb, 2017. Available at: https://urn.nsk.hr/urn:nbn:hr:168:893884

Metadata
TitleUpravljanje silom dodira u vertikalnoj osi manipulatora na bespilotnoj letjelici
Title (english)Force control of an UAV manipultor in vertical axis
AuthorPetar Bevanda
MentorStjepan Bogdan (mentor)
Committee memberStjepan Bogdan (predsjednik povjerenstva)
Committee memberMatko Orsag (član povjerenstva)
Committee memberAntun Ivanović (član povjerenstva)
GranterUniversity of Zagreb
Faculty of Electrical Engineering and Computing
Zagreb
Defense date and country2017-07-10, Croatia
Scientific / art field,
discipline and subdiscipline		TECHNICAL SCIENCES
Electrical Engineering
Abstract
Osmišljen je hibridni algoritam upravljanja silom u z osi bespilotne letjelice, u kombinaciji s pozicijskim algoritmom u vertikalnoj osi kako bi se omogu´cilo hibridno upravljanje po visini i sili te isti ispitan u Gazebo ROS okruženju. Izvedeni su matemati ˇcki modeli za osi kojima se upravlja, te prikazani dobiveni parametri za upravljaˇcki algoritam. Opisani su alati koji su korišteni kako bi se izvela simulacija u Gazebo-u. Demonstriran je programski naˇcin ukljuˇcenja senzora sile u model letjelice u Gazebo-u te obrazložen razlog odabira istog. Naposljetku su prikazani rezultati simulacije sustava hibridnog upravljanja, prikazavši relevantne odzive koji opravdavaju odabrani naˇcin rješavanja zada´ce upravljanja u vertikalnoj osi.
Abstract (english)
A hybrid force control algorithm is devised for an unmanned aerial vehicle in combination with a position algorithm in the vertical axis. It enables hybrid control of altitude and force. The control algorithmis tested in Gazebo ROS environment. Necessary mathematical models are derived and the resulting parameters for the control algorithm are presented. The tools used to simulate in Gazebo are described. Mounting the force sensor in the aircraft model has been demonstrated and the reasoning explained. Finally, the results of the hybrid control system are shown to warrant the chosen way of solving the hybrid vertical axis control task.
Keywords
Keywords (english)
Languagecroatian
URN:NBNurn:nbn:hr:168:893884
Study programmeTitle: Electrical Engineering and Information Technology
Study programme type: university
Study level: undergraduate
Academic / professional title: sveučilišni/a prvostupnik/ prvostupnica (baccalaureus/baccalaurea) inženjer/inženjerka elektrotehnike i informacijske tehnologije (sveučilišni/a prvostupnik/ prvostupnica (baccalaureus/baccalaurea) inženjer/inženjerka elektrotehnike i informacijske tehnologije)
Type of resourceText
File originBorn digital
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Created on2019-03-13 19:03:50