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master's thesis
Upravljanje SCARA robotom Kiwi uz regulaciju momenta i estimaciju momenta tereta
Zagreb: University of Zagreb, Faculty of Electrical Engineering and Computing, 2016. urn:nbn:hr:168:507598
Zglav, Ante
University of Zagreb
Faculty of Electrical Engineering and Computing

Institutional repository: FER Repository

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Zglav, A. (2016). Upravljanje SCARA robotom Kiwi uz regulaciju momenta i estimaciju momenta tereta (Master's thesis). Zagreb: University of Zagreb, Faculty of Electrical Engineering and Computing. Retrieved from https://urn.nsk.hr/urn:nbn:hr:168:507598

Zglav, Ante. "Upravljanje SCARA robotom Kiwi uz regulaciju momenta i estimaciju momenta tereta." Master's thesis, University of Zagreb, Faculty of Electrical Engineering and Computing, 2016. https://urn.nsk.hr/urn:nbn:hr:168:507598

Zglav, Ante. "Upravljanje SCARA robotom Kiwi uz regulaciju momenta i estimaciju momenta tereta." Master's thesis, University of Zagreb, Faculty of Electrical Engineering and Computing, 2016. https://urn.nsk.hr/urn:nbn:hr:168:507598

Zglav, A. (2016). 'Upravljanje SCARA robotom Kiwi uz regulaciju momenta i estimaciju momenta tereta', Master's thesis, University of Zagreb, Faculty of Electrical Engineering and Computing, accessed 02 November 2024, https://urn.nsk.hr/urn:nbn:hr:168:507598

Zglav A. Upravljanje SCARA robotom Kiwi uz regulaciju momenta i estimaciju momenta tereta [Master's thesis]. Zagreb: University of Zagreb, Faculty of Electrical Engineering and Computing; 2016 [cited 2024 November 02] Available at: https://urn.nsk.hr/urn:nbn:hr:168:507598

A. Zglav, "Upravljanje SCARA robotom Kiwi uz regulaciju momenta i estimaciju momenta tereta", Master's thesis, University of Zagreb, Faculty of Electrical Engineering and Computing, Zagreb, 2016. Available at: https://urn.nsk.hr/urn:nbn:hr:168:507598

Metadata
TitleUpravljanje SCARA robotom Kiwi uz regulaciju momenta i estimaciju momenta tereta
Title (english)Control of SCARA Robot Kiwi with Torque Control and Load Estimation
AuthorAnte Zglav
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 country2016-07-14, Croatia
Scientific / art field,
discipline and subdiscipline		TECHNICAL SCIENCES
Electrical Engineering
Abstract
U ovom diplomskom radu obrađeno je upravljanje SCARA robotskom rukom Kiwi uz upravljanje momentom motora. Robotom se upravlja korištenjem Roboteqovih servo pretvarača na kojima je implementiran PI regulator struje. Servo pretvarači su upravljani pomoću Simulink sheme s Real-time Linux PCa. Shema za regulaciju položaja zglobova sastoji se od PD regulatora položaja, predupravljanja po brzini, adaptivnog TDC regulatora koji uklanja sporodjelujuće poremećaje te kompenzacije trenja po modelu pomoću referentne vrijednosti brzine. Pomoću ovakvog regulacijskog rješenja moguće je osigurati dobro slijeđenje referentnog položaja, brzine i ubrzanja te upravljanje robotom s točnošću praćenja trajektorije od 4 mm.
Abstract (english)
In this master thesis control of a SCARA robot arm is accomplished through torque control. Robot is controlled with Roboteq DC motor controller that control motor current wit a custom PI controller. Current set point is sent to the controller through a CAN network from a PC running Real-time Linux. The control logic is implemented in Simulink and consists of a PD position controller with an auxiliary adaptive TDC controller for disturbance control. Friction is compensated using a static model and the speed set point. The resulting system can accurately follow both speed and position set points and is accurate up to 4 mm.
Keywords
Keywords (english)
Languagecroatian
URN:NBNurn:nbn:hr:168:507598
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 on2019-03-19 19:26:57