prikaz prve stranice dokumenta Hibridno upravljanje silom dodira za crtanje po ploči primjenom trajektorija s kontroliranim trzajem
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master's thesis
Hibridno upravljanje silom dodira za crtanje po ploči primjenom trajektorija s kontroliranim trzajem
Zagreb: University of Zagreb, Faculty of Electrical Engineering and Computing, 2018. urn:nbn:hr:168:509787
Kulaš, Matko
University of Zagreb
Faculty of Electrical Engineering and Computing

Institutional repository: FER Repository

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Kulaš, M. (2018). Hibridno upravljanje silom dodira za crtanje po ploči primjenom trajektorija s kontroliranim trzajem (Master's thesis). Zagreb: University of Zagreb, Faculty of Electrical Engineering and Computing. Retrieved from https://urn.nsk.hr/urn:nbn:hr:168:509787

Kulaš, Matko. "Hibridno upravljanje silom dodira za crtanje po ploči primjenom trajektorija s kontroliranim trzajem." Master's thesis, University of Zagreb, Faculty of Electrical Engineering and Computing, 2018. https://urn.nsk.hr/urn:nbn:hr:168:509787

Kulaš, Matko. "Hibridno upravljanje silom dodira za crtanje po ploči primjenom trajektorija s kontroliranim trzajem." Master's thesis, University of Zagreb, Faculty of Electrical Engineering and Computing, 2018. https://urn.nsk.hr/urn:nbn:hr:168:509787

Kulaš, M. (2018). 'Hibridno upravljanje silom dodira za crtanje po ploči primjenom trajektorija s kontroliranim trzajem', Master's thesis, University of Zagreb, Faculty of Electrical Engineering and Computing, accessed 25 November 2024, https://urn.nsk.hr/urn:nbn:hr:168:509787

Kulaš M. Hibridno upravljanje silom dodira za crtanje po ploči primjenom trajektorija s kontroliranim trzajem [Master's thesis]. Zagreb: University of Zagreb, Faculty of Electrical Engineering and Computing; 2018 [cited 2024 November 25] Available at: https://urn.nsk.hr/urn:nbn:hr:168:509787

M. Kulaš, "Hibridno upravljanje silom dodira za crtanje po ploči primjenom trajektorija s kontroliranim trzajem", Master's thesis, University of Zagreb, Faculty of Electrical Engineering and Computing, Zagreb, 2018. Available at: https://urn.nsk.hr/urn:nbn:hr:168:509787

Metadata
TitleHibridno upravljanje silom dodira za crtanje po ploči primjenom trajektorija s kontroliranim trzajem
Title (english)Hybrid Force Control for Drawing on Board using Jerk-controlled Trajectories
AuthorMatko Kulaš
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 country2018-02-21, Croatia
Scientific / art field,
discipline and subdiscipline		TECHNICAL SCIENCES
Electrical Engineering
Abstract
U ovome radu napisani su algoritmi Taylor-ovog i Ho-Cook-ovog postupka, kao i transformacija koordinatnih sustava ploče u globalni koordinatni sustav. Svi algoritmi su isprobani u simulacijskom okruženju Matlab. Nakon postavljanja novog paketa, na ROS platformi, za upravljanje robotskim sustavom Schunk LWA4P, napravljena je programska podrška za regulaciju sile pritiska robota te kretanje robota upravljano u stvarnom vremenu s regulacijom sile kroz željene točke prolaska. Iskorišteni su algoritmi strojnog učenja za uklanjanje statičke pogreške senzora sile. Programska podrška je isprobana te je dala dobre rezultate.
Abstract (english)
In this document are written Taylor and Ho-Cook algorithms, and transformation of coordinate system of a board to global coordinate system. All algorithms are tested in simulation in Matlab. After setting new package in ROS for controlling robot system of Schunk LWA4P, new application is made for force control and controlling robot in real time with force control through way-points. Machine learning algorithms have been used to resolve the problem of static error on force sensor. Application is tested and it showed good results.
Keywords
Keywords (english)
Languagecroatian
URN:NBNurn:nbn:hr:168:509787
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 22:05:36