prikaz prve stranice dokumenta Realizacija sustava upravljanja silom dodira kartezijskog robota Schneider Electric
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master's thesis
Realizacija sustava upravljanja silom dodira kartezijskog robota Schneider Electric
Zagreb: University of Zagreb, Faculty of Electrical Engineering and Computing, 2016. urn:nbn:hr:168:731771
Brkić, Vedran
University of Zagreb
Faculty of Electrical Engineering and Computing

Institutional repository: FER Repository

Cite this document

Brkić, V. (2016). Realizacija sustava upravljanja silom dodira kartezijskog robota Schneider Electric (Master's thesis). Zagreb: University of Zagreb, Faculty of Electrical Engineering and Computing. Retrieved from https://urn.nsk.hr/urn:nbn:hr:168:731771

Brkić, Vedran. "Realizacija sustava upravljanja silom dodira kartezijskog robota Schneider Electric." Master's thesis, University of Zagreb, Faculty of Electrical Engineering and Computing, 2016. https://urn.nsk.hr/urn:nbn:hr:168:731771

Brkić, Vedran. "Realizacija sustava upravljanja silom dodira kartezijskog robota Schneider Electric." Master's thesis, University of Zagreb, Faculty of Electrical Engineering and Computing, 2016. https://urn.nsk.hr/urn:nbn:hr:168:731771

Brkić, V. (2016). 'Realizacija sustava upravljanja silom dodira kartezijskog robota Schneider Electric', Master's thesis, University of Zagreb, Faculty of Electrical Engineering and Computing, accessed 20 May 2024, https://urn.nsk.hr/urn:nbn:hr:168:731771

Brkić V. Realizacija sustava upravljanja silom dodira kartezijskog robota Schneider Electric [Master's thesis]. Zagreb: University of Zagreb, Faculty of Electrical Engineering and Computing; 2016 [cited 2024 May 20] Available at: https://urn.nsk.hr/urn:nbn:hr:168:731771

V. Brkić, "Realizacija sustava upravljanja silom dodira kartezijskog robota Schneider Electric", Master's thesis, University of Zagreb, Faculty of Electrical Engineering and Computing, Zagreb, 2016. Available at: https://urn.nsk.hr/urn:nbn:hr:168:731771

Metadata
TitleRealizacija sustava upravljanja silom dodira kartezijskog robota Schneider Electric
Title (english)Implementation of Contact Force Control system of Cartesian Robot Schneider Electric
AuthorVedran Brkić
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 country2016-07-13, Croatia
Scientific / art field,
discipline and subdiscipline		TECHNICAL SCIENCES
Electrical Engineering
Abstract
Kroz rad je zatvoren regulacijski krug sile dodira kartezijskog robota Schneider Electric po okomitoj osi. Omogućeno je hibridno upravljanje pozicijom i silom uz upravljanje po poziciji kada gibanje robota nije ograničeno i upravljanje po sili kada je gibanje robota ograničeno. Implementirana adaptivna upravljačka struktura s referentnim modelom uz korištenje neizrazitog regulatora sile i neizrazitog adaptacijskog algoritma kompenzira utjecaj parametara robota i mehaničkih svojstava objekata s kojima robot dolazi u kontakt.
Abstract (english)
Force control loop was closed by the vertical axis of cartesian robot Schneider Electric. Hybrid force/position control is implemented with control by position in free space and control by force in constrained space. Model reference adaptive control structure using fuzzy force controller and fuzzy adaptation algorithm compensates the change in robot parameters and mechanical characteristics of objects in contact with the robot.
Keywords
Keywords (english)
Languagecroatian
URN:NBNurn:nbn:hr:168:731771
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 on2018-02-06 08:03:08