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master's thesis
Planiranje i upravljanje sustavom s dva kooperativna robotska manipulatora
Zagreb: University of Zagreb, Faculty of Electrical Engineering and Computing, 2017. urn:nbn:hr:168:683109
Marić, Bruno
University of Zagreb
Faculty of Electrical Engineering and Computing

Institutional repository: FER Repository

Cite this document

Marić, B. (2017). Planiranje i upravljanje sustavom s dva kooperativna robotska manipulatora (Master's thesis). Zagreb: University of Zagreb, Faculty of Electrical Engineering and Computing. Retrieved from https://urn.nsk.hr/urn:nbn:hr:168:683109

Marić, Bruno. "Planiranje i upravljanje sustavom s dva kooperativna robotska manipulatora." Master's thesis, University of Zagreb, Faculty of Electrical Engineering and Computing, 2017. https://urn.nsk.hr/urn:nbn:hr:168:683109

Marić, Bruno. "Planiranje i upravljanje sustavom s dva kooperativna robotska manipulatora." Master's thesis, University of Zagreb, Faculty of Electrical Engineering and Computing, 2017. https://urn.nsk.hr/urn:nbn:hr:168:683109

Marić, B. (2017). 'Planiranje i upravljanje sustavom s dva kooperativna robotska manipulatora', Master's thesis, University of Zagreb, Faculty of Electrical Engineering and Computing, accessed 25 November 2024, https://urn.nsk.hr/urn:nbn:hr:168:683109

Marić B. Planiranje i upravljanje sustavom s dva kooperativna robotska manipulatora [Master's 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:168:683109

B. Marić, "Planiranje i upravljanje sustavom s dva kooperativna robotska manipulatora", Master's thesis, University of Zagreb, Faculty of Electrical Engineering and Computing, Zagreb, 2017. Available at: https://urn.nsk.hr/urn:nbn:hr:168:683109

Metadata
TitlePlaniranje i upravljanje sustavom s dva kooperativna robotska manipulatora
Title (english)Design and Control of Dual Manipulator System
AuthorBruno Marić
MentorStjepan Bogdan (mentor)
Committee memberStjepan Bogdan (predsjednik povjerenstva)
Committee memberZdenko Kovačić (član povjerenstva)
Committee memberMatko Orsag (član povjerenstva)
GranterUniversity of Zagreb
Faculty of Electrical Engineering and Computing
Zagreb
Defense date and country2017-07-21, Croatia
Scientific / art field,
discipline and subdiscipline		TECHNICAL SCIENCES
Electrical Engineering
Abstract
Ovim diplomskim radom predstavljeno je planiranje i upravljanje kooperativnim sustavom s dva robotska manipulatora ˇcime je osigurana zajedniˇcka manipulacija u okviru paradigme voditelj-sljedbenik. U navedenom sustavu, jedan od manipulatora koristi se za optimalno postavljanje predmeta u položaj za obradu, dok drugi manipulator obavlja obradu istoga. Gibanje robota u prostoru ostvareno je pomo´cu HoCook metode ˇcime je osigurano kontinuirano gibanje uz ograniˇcenje maksimalnih brzina i ubrzanja zglobova robota. Upravljanje silom dodira alat-predmet ostvareno je upravljanjem impedancijom ˇcime je postignuta aktivna podatnost manipulatora. Svi predstavljeni algoritmi i metode testirani su u posebno prilagod¯enom simulacijskom okruženju. Zakljucˇno, prikazana je realizacija na stvarnom robotskom sustavu s robotskim manipulatorima Schunk LWA4P.
Abstract (english)
This master thesis presents design and control of co-operative system with two robot manipulators, enabling joint manipulation based on master-slave paradigm. In this system, one manipulator is used to set object in optimal position, while another robot is used to treat the object. Robot movement is controlled using HoCook method, allowing continuous movement and limitations regarding maximum velocities and accelerations of each robot joint. Impedance control is used to control object-tool contact force, by achieving active compliance of the manipulator. Presented algorithms and methods are tested in specially designed simulator. Finally, control is presented on real system with two robot manipulators Schunk LWA4P.
Keywords
Keywords (english)
Languagecroatian
URN:NBNurn:nbn:hr:168:683109
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 22:38:25