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undergraduate thesis
Upravljanje zglobovima robota putem CAN sabirnice zasnovano na ROS-u
Zagreb: University of Zagreb, Faculty of Electrical Engineering and Computing, 2017. urn:nbn:hr:168:598679
Oštrić, Toni
University of Zagreb
Faculty of Electrical Engineering and Computing

Institutional repository: FER Repository

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Oštrić, T. (2017). Upravljanje zglobovima robota putem CAN sabirnice zasnovano na ROS-u (Undergraduate thesis). Zagreb: University of Zagreb, Faculty of Electrical Engineering and Computing. Retrieved from https://urn.nsk.hr/urn:nbn:hr:168:598679

Oštrić, Toni. "Upravljanje zglobovima robota putem CAN sabirnice zasnovano na ROS-u." Undergraduate thesis, University of Zagreb, Faculty of Electrical Engineering and Computing, 2017. https://urn.nsk.hr/urn:nbn:hr:168:598679

Oštrić, Toni. "Upravljanje zglobovima robota putem CAN sabirnice zasnovano na ROS-u." Undergraduate thesis, University of Zagreb, Faculty of Electrical Engineering and Computing, 2017. https://urn.nsk.hr/urn:nbn:hr:168:598679

Oštrić, T. (2017). 'Upravljanje zglobovima robota putem CAN sabirnice zasnovano na ROS-u', Undergraduate thesis, University of Zagreb, Faculty of Electrical Engineering and Computing, accessed 22 November 2024, https://urn.nsk.hr/urn:nbn:hr:168:598679

Oštrić T. Upravljanje zglobovima robota putem CAN sabirnice zasnovano na ROS-u [Undergraduate thesis]. Zagreb: University of Zagreb, Faculty of Electrical Engineering and Computing; 2017 [cited 2024 November 22] Available at: https://urn.nsk.hr/urn:nbn:hr:168:598679

T. Oštrić, "Upravljanje zglobovima robota putem CAN sabirnice zasnovano na ROS-u", Undergraduate thesis, University of Zagreb, Faculty of Electrical Engineering and Computing, Zagreb, 2017. Available at: https://urn.nsk.hr/urn:nbn:hr:168:598679

Metadata
TitleUpravljanje zglobovima robota putem CAN sabirnice zasnovano na ROS-u
Title (english)ROS- based Control of Robot Joints via CAN Bus
AuthorToni Oštrić
MentorZdenko Kovačić (mentor)
Committee memberZdenko Kovačić (predsjednik povjerenstva)
Committee memberMatko Orsag (član povjerenstva)
Committee memberEdin Kočo (član povjerenstva)
GranterUniversity of Zagreb
Faculty of Electrical Engineering and Computing
Zagreb
Defense date and country2017-09-05, Croatia
Scientific / art field,
discipline and subdiscipline		TECHNICAL SCIENCES
Electrical Engineering
Abstract
Korištenjem jednog od novijih komunikacijskih protokola, CANopenom, te CAN sabirnicom, ostvarena je komunikacija s robotskom rukom Schunk LWA 4P i hvataljkom WSG 50. Glavna ideja CAN-a je omogućiti povezivanje više uređaja na istu sabirnicu, tako da ožičenje i protokol budu što jednostavniji. Opisan je način na koji CANopen komunicira s uređajima, metode kojima kontrolira stanje određenih čvorova, te kako provjerava je li došlo do pogreške u komunikaciji. Cijela komunikacija zasnovana je na ROS-u.
Abstract (english)
CANopen and CAN bus were used to establish a communication with Schunk LWA 4P and WSG 50 gripper. The main idea of ​​CAN is to connect multiple devices to the same bus so that wiring and communication protocols are as simple as possible. This thesis describes the way CANopen communicates with devices, and the methods that control the state of certain nodes. It also shows how CANopen can see if there was a communication error. The whole communication is based on ROS.
Keywords
Keywords (english)
Languagecroatian
URN:NBNurn:nbn:hr:168:598679
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 on2019-03-13 23:34:35