prikaz prve stranice dokumenta Realizacija sustava za upravljanje četveronožnim robotom zasnovanog na mikrokontroleru STM32F407VG
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master's thesis
Realizacija sustava za upravljanje četveronožnim robotom zasnovanog na mikrokontroleru STM32F407VG
Zagreb: University of Zagreb, Faculty of Electrical Engineering and Computing, 2014. urn:nbn:hr:168:376468
Čovran, Mislav
University of Zagreb
Faculty of Electrical Engineering and Computing

Institutional repository: FER Repository

Cite this document

Čovran, M. (2014). Realizacija sustava za upravljanje četveronožnim robotom zasnovanog na mikrokontroleru STM32F407VG (Master's thesis). Zagreb: University of Zagreb, Faculty of Electrical Engineering and Computing. Retrieved from https://urn.nsk.hr/urn:nbn:hr:168:376468

Čovran, Mislav. "Realizacija sustava za upravljanje četveronožnim robotom zasnovanog na mikrokontroleru STM32F407VG." Master's thesis, University of Zagreb, Faculty of Electrical Engineering and Computing, 2014. https://urn.nsk.hr/urn:nbn:hr:168:376468

Čovran, Mislav. "Realizacija sustava za upravljanje četveronožnim robotom zasnovanog na mikrokontroleru STM32F407VG." Master's thesis, University of Zagreb, Faculty of Electrical Engineering and Computing, 2014. https://urn.nsk.hr/urn:nbn:hr:168:376468

Čovran, M. (2014). 'Realizacija sustava za upravljanje četveronožnim robotom zasnovanog na mikrokontroleru STM32F407VG', Master's thesis, University of Zagreb, Faculty of Electrical Engineering and Computing, accessed 26 December 2024, https://urn.nsk.hr/urn:nbn:hr:168:376468

Čovran M. Realizacija sustava za upravljanje četveronožnim robotom zasnovanog na mikrokontroleru STM32F407VG [Master's thesis]. Zagreb: University of Zagreb, Faculty of Electrical Engineering and Computing; 2014 [cited 2024 December 26] Available at: https://urn.nsk.hr/urn:nbn:hr:168:376468

M. Čovran, "Realizacija sustava za upravljanje četveronožnim robotom zasnovanog na mikrokontroleru STM32F407VG", Master's thesis, University of Zagreb, Faculty of Electrical Engineering and Computing, Zagreb, 2014. Available at: https://urn.nsk.hr/urn:nbn:hr:168:376468

Metadata
TitleRealizacija sustava za upravljanje četveronožnim robotom zasnovanog na mikrokontroleru STM32F407VG
Title (english)Implementation of Quadruped Robot Control System Based on Microcontroller STM32F407VG
AuthorMislav Čovran
MentorZdenko Kovačić (mentor)
Committee memberZdenko Kovačić (predsjednik povjerenstva)
Committee memberStjepan Bogdan (član povjerenstva)
Committee memberIvana Palunko (član povjerenstva)
GranterUniversity of Zagreb
Faculty of Electrical Engineering and Computing
Zagreb
Defense date and country2014-07-16, Croatia
Scientific / art field,
discipline and subdiscipline		TECHNICAL SCIENCES
Electrical Engineering
Abstract
Dynarobin je četveronožni hodajući robot s Dynamixel aktuatorima. Za njega je projektirana tiskana pločica s mikrokontrolerom STM32F405 i napajanjem za BeagleBone računalo. Mikrokontroler koristi CMSIS-RTOS RTX operacijski sustav, komunicira s Dynamixelima (s njih 5 istovremeno), može njima upravljati po brzini, računa direktnu i inverznu kinematiku nogu (s brzinama), pokreće noge u skladu sa zadanim trajektorijama oblika kardinalnih splineova, uzorkuje i filtrira stanje analognih senzora otporničkog tipa te prima informacije s AHRS-a. Sve to izvodi dok komunicira s BeagleBoneom preko virtualnog COM porta na full-speed USB vezi.
Abstract (english)
Dynarobin is a quadrupedal walking robot with Dynamixel actuators. For it, a control board containing an STM32F405 microcontroller and a power supply for a BeagleBone computer was engineered. The microcontroller makes use of CMSIS-RTOS RTX operating system, communicates with Dynamixels (5 of them at the same time), can utilize speed control, calculates leg forward and inverse kinematics (with velocities), moves legs according to given cardinal spline trajectories, samples and filters resistive analog force sensors and receives information from an AHRS. All that is being executed while communicating with the BeagleBone via a virtual COM port over full-speed USB connection.
Keywords
Keywords (english)
Languagecroatian
URN:NBNurn:nbn:hr:168:376468
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 08:18:49