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master's thesis
Adaptivno neizrazito upravljanje impedancijom industrijskog robota Schunk
Zagreb: University of Zagreb, Faculty of Electrical Engineering and Computing, 2017. urn:nbn:hr:168:634531
Ivanov, Lovro
University of Zagreb
Faculty of Electrical Engineering and Computing

Institutional repository: FER Repository

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Ivanov, L. (2017). Adaptivno neizrazito upravljanje impedancijom industrijskog robota Schunk (Master's thesis). Zagreb: University of Zagreb, Faculty of Electrical Engineering and Computing. Retrieved from https://urn.nsk.hr/urn:nbn:hr:168:634531

Ivanov, Lovro. "Adaptivno neizrazito upravljanje impedancijom industrijskog robota Schunk." Master's thesis, University of Zagreb, Faculty of Electrical Engineering and Computing, 2017. https://urn.nsk.hr/urn:nbn:hr:168:634531

Ivanov, Lovro. "Adaptivno neizrazito upravljanje impedancijom industrijskog robota Schunk." Master's thesis, University of Zagreb, Faculty of Electrical Engineering and Computing, 2017. https://urn.nsk.hr/urn:nbn:hr:168:634531

Ivanov, L. (2017). 'Adaptivno neizrazito upravljanje impedancijom industrijskog robota Schunk', Master's thesis, University of Zagreb, Faculty of Electrical Engineering and Computing, accessed 04 November 2024, https://urn.nsk.hr/urn:nbn:hr:168:634531

Ivanov L. Adaptivno neizrazito upravljanje impedancijom industrijskog robota Schunk [Master's thesis]. Zagreb: University of Zagreb, Faculty of Electrical Engineering and Computing; 2017 [cited 2024 November 04] Available at: https://urn.nsk.hr/urn:nbn:hr:168:634531

L. Ivanov, "Adaptivno neizrazito upravljanje impedancijom industrijskog robota Schunk", Master's thesis, University of Zagreb, Faculty of Electrical Engineering and Computing, Zagreb, 2017. Available at: https://urn.nsk.hr/urn:nbn:hr:168:634531

Metadata
TitleAdaptivno neizrazito upravljanje impedancijom industrijskog robota Schunk
Title (english)Adaptive Fuzzy Impedance Control of Industrial Robot Schunk
AuthorLovro Ivanov
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 country2017-07-17, Croatia
Scientific / art field,
discipline and subdiscipline		TECHNICAL SCIENCES
Electrical Engineering
Abstract
Upravljanje silom dodira robotskih manipulatora veliki je izazov modernog svijeta industrije. Jedan od pristupa tom problemu je upravljanaje impedancijom. Robot se treba ponašati kao sustav mase, opruge i prigušnice uzimajući u obzir konstante okoline koju pritišće. Izveden je linearni regulator, te neizraziti potpomognut adaptivnim algoritmom kako bi se upravljanje silom omogućilo na različitim podlogama.
Abstract (english)
Force control of industrial manipulators is a huge challenge in modern robotics. Approach that has been used in this work is impedance control. Modelling manipulator as mass, damper, spring system is the basic task. Linear control law has been applied and compared to fuzzy adaptive regulator.
Keywords
Keywords (english)
Languagecroatian
URN:NBNurn:nbn:hr:168:634531
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 on2019-03-13 21:01:31