prikaz prve stranice dokumenta Upravljanje iz Matlaba robotom Rhino XR-4 sa servokontrolerom Roboteq SDC2150N
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undergraduate thesis
Upravljanje iz Matlaba robotom Rhino XR-4 sa servokontrolerom Roboteq SDC2150N
Zagreb: University of Zagreb, Faculty of Electrical Engineering and Computing, 2014. urn:nbn:hr:168:730097
Šarlija, Marko
University of Zagreb
Faculty of Electrical Engineering and Computing

Institutional repository: FER Repository

Cite this document

Šarlija, M. (2014). Upravljanje iz Matlaba robotom Rhino XR-4 sa servokontrolerom Roboteq SDC2150N (Undergraduate thesis). Zagreb: University of Zagreb, Faculty of Electrical Engineering and Computing. Retrieved from https://urn.nsk.hr/urn:nbn:hr:168:730097

Šarlija, Marko. "Upravljanje iz Matlaba robotom Rhino XR-4 sa servokontrolerom Roboteq SDC2150N." Undergraduate thesis, University of Zagreb, Faculty of Electrical Engineering and Computing, 2014. https://urn.nsk.hr/urn:nbn:hr:168:730097

Šarlija, Marko. "Upravljanje iz Matlaba robotom Rhino XR-4 sa servokontrolerom Roboteq SDC2150N." Undergraduate thesis, University of Zagreb, Faculty of Electrical Engineering and Computing, 2014. https://urn.nsk.hr/urn:nbn:hr:168:730097

Šarlija, M. (2014). 'Upravljanje iz Matlaba robotom Rhino XR-4 sa servokontrolerom Roboteq SDC2150N', Undergraduate thesis, University of Zagreb, Faculty of Electrical Engineering and Computing, accessed 16 February 2025, https://urn.nsk.hr/urn:nbn:hr:168:730097

Šarlija M. Upravljanje iz Matlaba robotom Rhino XR-4 sa servokontrolerom Roboteq SDC2150N [Undergraduate thesis]. Zagreb: University of Zagreb, Faculty of Electrical Engineering and Computing; 2014 [cited 2025 February 16] Available at: https://urn.nsk.hr/urn:nbn:hr:168:730097

M. Šarlija, "Upravljanje iz Matlaba robotom Rhino XR-4 sa servokontrolerom Roboteq SDC2150N", Undergraduate thesis, University of Zagreb, Faculty of Electrical Engineering and Computing, Zagreb, 2014. Available at: https://urn.nsk.hr/urn:nbn:hr:168:730097

Metadata
TitleUpravljanje iz Matlaba robotom Rhino XR-4 sa servokontrolerom Roboteq SDC2150N
Title (english)Matlab-based Control of Rhino XR-4 Robot with Servocontroller Roboteq SDC2150N
AuthorMarko Šarlija
MentorZdenko Kovačić (mentor)
Committee memberZdenko Kovačić (predsjednik povjerenstva)
Committee memberAlan Mutka (član povjerenstva)
Committee memberGoran Vasiljević (član povjerenstva)
GranterUniversity of Zagreb
Faculty of Electrical Engineering and Computing
Zagreb
Defense date and country2014-09-04, Croatia
Scientific / art field,
discipline and subdiscipline		TECHNICAL SCIENCES
Electrical Engineering
Abstract
U radu je trebalo realizirati sustav za upravljanje peteroosnim edukacijskim robotom Rhino XR-4 u realnom vremenu u programskom okruženju Matlaba koristeći alat xPCTarget za što su potrebna dva računala (glavno i ciljno) koja komuniciraju preko mreže. Implementirana je programska podrška i osposobljen je servokontroler Roboteq SDC2150N za rad s robotskim elementima. Izrađen je model sustava upravljanja u Simulinku, te je omogućeno upravljanje pozicijom robotskih zglobova u prostoru zglobova i u kartezijskom prostoru, no samo na modelu. Nažalost, upravljačke funkcije nisu u potpunosti isprobane na stvarnom robotu zbog nedostatka komunikacijske opreme, već na samo 2 zgloba istovremeno. U simulaciji je pak ostvareno pozicioniranje i zadavanje trajektorije robotu. Također omogućen je vizualni prikaz gibanja robota integracijom virtualnog modela robota u VRML formatu.
Abstract (english)
The main goal of this work was to implement a Matlab based real-time control system for a five axis educational robot arm Rhino XR-4 using the xPC Target toolbox which requires two computers (host and target) communicating over network. The software was implemented and Roboteq SDC2150N controller was enabled to work with robotic elements. A Simulink model of the control system was made, and the position control of robotic joints in the joint space and cartesian space was theoretically made possible but was not checked on a real robot due to communication equipment shortage. However, positioning and linear trajectory planning is achieved in simulation. Additionally, visual representation of robot motion and integration of virtual VRML robot model was achieved.
Keywords
Keywords (english)
Languagecroatian
URN:NBNurn:nbn:hr:168:730097
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 on2018-02-06 07:24:37