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undergraduate thesis
Samobalansirajući mobilni robot
Zagreb: University of Zagreb, Faculty of Electrical Engineering and Computing, 2018. urn:nbn:hr:168:407840
Dovičin, Sebastian
University of Zagreb
Faculty of Electrical Engineering and Computing

Institutional repository: FER Repository

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Dovičin, S. (2018). Samobalansirajući mobilni robot (Undergraduate thesis). Zagreb: University of Zagreb, Faculty of Electrical Engineering and Computing. Retrieved from https://urn.nsk.hr/urn:nbn:hr:168:407840

Dovičin, Sebastian. "Samobalansirajući mobilni robot." Undergraduate thesis, University of Zagreb, Faculty of Electrical Engineering and Computing, 2018. https://urn.nsk.hr/urn:nbn:hr:168:407840

Dovičin, Sebastian. "Samobalansirajući mobilni robot." Undergraduate thesis, University of Zagreb, Faculty of Electrical Engineering and Computing, 2018. https://urn.nsk.hr/urn:nbn:hr:168:407840

Dovičin, S. (2018). 'Samobalansirajući mobilni robot', Undergraduate thesis, University of Zagreb, Faculty of Electrical Engineering and Computing, accessed 04 July 2024, https://urn.nsk.hr/urn:nbn:hr:168:407840

Dovičin S. Samobalansirajući mobilni robot [Undergraduate thesis]. Zagreb: University of Zagreb, Faculty of Electrical Engineering and Computing; 2018 [cited 2024 July 04] Available at: https://urn.nsk.hr/urn:nbn:hr:168:407840

S. Dovičin, "Samobalansirajući mobilni robot", Undergraduate thesis, University of Zagreb, Faculty of Electrical Engineering and Computing, Zagreb, 2018. Available at: https://urn.nsk.hr/urn:nbn:hr:168:407840

Metadata
TitleSamobalansirajući mobilni robot
Title (english)Self-Balancing Mobile Robot
AuthorSebastian Dovičin
MentorAna Sović Kržić (mentor)
Committee memberAna Sović Kržić (predsjednik povjerenstva)
Committee memberAzra Tafro (član povjerenstva)
Committee memberTin Vlašić (član povjerenstva)
GranterUniversity of Zagreb
Faculty of Electrical Engineering and Computing
Zagreb
Defense date and country2018-07-13, Croatia
Scientific / art field,
discipline and subdiscipline		TECHNICAL SCIENCES
Computing
Abstract
Samobalasirajući mobilni robot sastoji se od dva motora s kotačima sa zajedničkom osi rotacije. Konstrukcija ovakvog robota je nestabilna i teži prevrtanju. Potencijalno prevrtanje detektira se jedinicom za mjerenje inercije, a položaj robota ispravlja se korištenjem PID kontrolera, kojem je ulaz otklon od ravnotežnog položaja, a izlaz vrijednost koja služi za upravljanje motorima u odgovarajućem smjeru odgovarajućom brzinom. Upravljanju motorima kao komponenta posreduje motor kontroler. Za upravljanje robotom koristi se Raspberry Pi, a programski jezik koda je C. Robot ima vlastito napajanje i mobilan je. Napajanje je odvojeno za motore i za Raspberry Pi.
Abstract (english)
Self-balancing mobile robot is made of two motors with wheels, which have a common rotation axis. A robot constructed in that way is physically unstable and strives to overturn, which is detected with an inertial measurement unit. Robot's vertical position is corrected by PID controller, whose input is the deviation from balanced position, and output is a value used for turning the motors in proper direction with proper turning speed. A motor controller is used as a mediator for controlling the motors. Raspberry Pi is used as a control unit, and the robot's main program is written in C. Robot has its own power supply and is mobile. Motors and Raspberry Pi each have its own power supply.
Keywords
Keywords (english)
Languagecroatian
URN:NBNurn:nbn:hr:168:407840
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 on2019-03-13 19:59:21